80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.4s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.5s | 12 errors · 34 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.4s | 12 errors · 34 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 1.26sINFOjoint_trajectory_controllerGoal reached, success! + 1.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.86sINFOobjective_server_nodecaller: ×6 + 1.86sINFOobjective_server_nodetype: 0 ×6 + 1.86sINFOobjective_server_nodename: "" ×6 + 1.86sINFOobjective_server_nodeinstance_id: "" ×6 + 1.86sINFOobjective_server_node ×6 + 1.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 2.77sWARNobjective_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 + 2.78sERRORobjective_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 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 2.82sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789663066.62936735 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789663067.23505998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.79sINFOmove_groupClearing octomap...[0m ×2 + 4.79sINFOmove_groupOctomap cleared.[0m ×2 + 4.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789663069.96518779 seconds ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 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 + 0.01sERRORobjective_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: 1789663041.05878496 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789663045.20679021 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2).[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: 1789663045.81551957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789663046.54569125 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450866 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450866 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 33 warnings · 278 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.21sINFOobjective_server_nodecaller: ×10 + 2.21sINFOobjective_server_nodetype: 0 ×10 + 2.21sINFOobjective_server_nodename: "" ×10 + 2.21sINFOobjective_server_nodeinstance_id: "" ×10 + 2.21sINFOobjective_server_node ×10 + 2.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.33sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 2.95sWARNobjective_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 + 2.96sERRORobjective_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 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789663045.20679021 seconds ×3 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2).[0m ×2 + 7.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.72sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789663045.81551957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✕ 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 + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 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 + 0.03sINFOcontroller_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 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[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: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.69sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 1.31sWARNobjective_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 + 1.32sERRORobjective_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 + 1.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.99sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789663045.20679021 seconds ×3 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789663045.81551957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789663046.54569125 seconds ×3 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4).[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 3.870638 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.403ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.180ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900478 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900478 ms (missed cycles : 2).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.48sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.48sINFOobjective_server_nodecaller: ×8 + 3.48sINFOobjective_server_nodetype: 0 ×8 + 3.48sINFOobjective_server_nodename: "" ×8 + 3.48sINFOobjective_server_nodeinstance_id: "" ×8 + 3.48sINFOobjective_server_node ×8 + 3.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.60sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 4.22sWARNobjective_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 + 4.23sERRORobjective_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 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.90sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 7.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 7.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 27 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249685 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868632 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868632 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190011 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190011 ms (missed cycles : 2).[0m ×2 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259866 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789663056.63570142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631248 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631248 ms (missed cycles : 2).[0m ×2 + 4.33sWARNobjective_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 + 4.33sERRORobjective_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 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789663057.33587170 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789663057.94349837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411213 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411213 ms (missed cycles : 3).[0m ×2 + 5.37sINFOjoint_trajectory_controllerReceived new action goal + 5.37sINFOjoint_trajectory_controllerAccepted new action goal + 5.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930989 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930989 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034356 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034356 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 142 warnings · 392 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.84sINFOobjective_server_nodecaller: ×12 + 0.84sINFOobjective_server_nodetype: 0 ×12 + 0.84sINFOobjective_server_nodename: "" ×12 + 0.84sINFOobjective_server_nodeinstance_id: "" ×12 + 0.84sINFOobjective_server_node ×12 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444213 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444213 ms (missed cycles : 3).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867011 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867011 ms (missed cycles : 2).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910241 ms (missed cycles : 3). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910241 ms (missed cycles : 3).[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916828 ms (missed cycles : 4). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916828 ms (missed cycles : 4).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740422 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740422 ms (missed cycles : 2).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024926 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024926 ms (missed cycles : 2).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663223 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663223 ms (missed cycles : 2).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 10.660ms + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219380 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219380 ms (missed cycles : 3).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889304 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889304 ms (missed cycles : 3).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246585 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246585 ms (missed cycles : 2).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535924 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535924 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076309 ms (missed cycles : 2). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076309 ms (missed cycles : 2).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360563 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360563 ms (missed cycles : 2).[0m ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625812 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625812 ms (missed cycles : 2).[0m ×2 + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874423 ms (missed cycles : 3). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874423 ms (missed cycles : 3).[0m ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036883 ms (missed cycles : 2). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036883 ms (missed cycles : 2).[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049343 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049343 ms (missed cycles : 2).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897155 ms (missed cycles : 3). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897155 ms (missed cycles : 3).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281167 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281167 ms (missed cycles : 2).[0m ×2 + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524526 ms (missed cycles : 4). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524526 ms (missed cycles : 4).[0m ×2 + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471924 ms (missed cycles : 3). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471924 ms (missed cycles : 3).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772445 ms (missed cycles : 2). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772445 ms (missed cycles : 2).[0m ×2 + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270044 ms (missed cycles : 2). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270044 ms (missed cycles : 2).[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652151 ms (missed cycles : 3). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652151 ms (missed cycles : 3).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088011 ms (missed cycles : 2). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088011 ms (missed cycles : 2).[0m ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690201 ms (missed cycles : 3). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690201 ms (missed cycles : 3).[0m ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661130 ms (missed cycles : 4). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661130 ms (missed cycles : 4).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104103 ms (missed cycles : 2). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104103 ms (missed cycles : 2).[0m ×2 + 37.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927260 ms (missed cycles : 2). + 37.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927260 ms (missed cycles : 2).[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494509 ms (missed cycles : 3). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494509 ms (missed cycles : 3).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925436 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925436 ms (missed cycles : 2).[0m ×2 + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800208 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800208 ms (missed cycles : 2).[0m ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339689 ms (missed cycles : 2). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339689 ms (missed cycles : 2).[0m ×2 + 42.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.277ms + 43.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200210 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200210 ms (missed cycles : 2).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4).[0m ×2 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4).[0m ×2 + 46.38sINFOjoint_trajectory_controllerGoal reached, success! + 46.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789663033.53096461 seconds ×3 + 46.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3).[0m ×2 + 46.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.98sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789663034.11328626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.318ms + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3).[0m ×2 + 47.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 48.22sINFOobjective_server_nodeFound path in 0 iterations (2.4106e-05 s). ×2 + 48.29sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3).[0m ×2 + 50.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.403ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.8s | 104 errors · 38 warnings · 491 info |
+ 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×3 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×6 + 0.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.52sINFOobjective_server_nodecaller: ×4 + 0.52sINFOobjective_server_nodetype: 0 ×4 + 0.52sINFOobjective_server_nodename: "" ×4 + 0.52sINFOobjective_server_nodeinstance_id: "" ×4 + 0.52sINFOobjective_server_node ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789663067.23505998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.57sINFOmove_groupClearing octomap...[0m ×2 + 0.57sINFOmove_groupOctomap cleared.[0m ×2 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789663069.96518779 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789663070.54592943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926477 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926477 ms (missed cycles : 4).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114058 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114058 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789663073.24607944 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072161 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072161 ms (missed cycles : 3).[0m ×2 + 6.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107362 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107362 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572839 ms (missed cycles : 4). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572839 ms (missed cycles : 4).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962678 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962678 ms (missed cycles : 3).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672248 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672248 ms (missed cycles : 2).[0m ×2 + 12.07sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 12.09sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.09sERRORweb_video_auth_proxy-37process has died [pid 8919, 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 + 12.09sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.09sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 12.10sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sERRORweb_bridge_auth_proxy-36process has died [pid 8918, 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 + 12.10sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.11sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.11sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.11sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.11sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.11sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120036 ms (missed cycles : 3). + 12.12sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 12.13sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 12.14sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 12.15sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 12.16sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 12.16sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 12.18sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 12.19sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 12.20sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 12.21sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 12.21sINFOvideo_server-35process has finished cleanly [pid 8917] ×2 + 12.22sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 12.23sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 12.25sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 12.25sINFOcontroller_managerShutdown request received.... + 12.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.25sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.25sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.25sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.25sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.25sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.25sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 12.26sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.26sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.26sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.26sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.26sINFOcontroller_managerShutting down the controller manager. + 12.26sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 12.27sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 12.28sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 12.29sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 12.30sERRORmove_group-23process has died [pid 8866, 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_ipmkai_s --params-file /tmp/launch_params_um8iylsu --params-file /tmp/launch_params_rr90s8o3 --params-file /tmp/launch_params_8aun6prd --params-file /tmp/launch_params_vpujz95z --params-file /tmp/launch_params_dtc2mxia']. ×2 + 12.30sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 12.31sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.32sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.33sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.34sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.34sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.34sINFOmap_serverDeactivating + 12.34sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.35sINFOmap_serverCleaning up + 12.35sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.35sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.35sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.35sINFOcontroller_serverDeactivating + 12.35sINFOlocal_costmap.local_costmapDeactivating + 12.35sINFOvideo_server2026/09/17 16:37:58 INF shutting down gracefully ×2 + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120036 ms (missed cycles : 3).[0m ×2 + 12.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.35sINFOvideo_server2026/09/17 16:37:58 INF [WebRTC] closing ×2 + 12.35sINFOvideo_server2026/09/17 16:37:58 INF [RTSP] closing ×2 + 12.35sINFOvideo_server2026/09/17 16:37:58 INF waiting for running hooks ×2 + 12.35sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.35sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.35sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.36sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.36sERRORmove_groupStack trace (most recent call last) in thread 9518: ×2 + 12.36sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.36sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f621beb2a63, in __clone ×2 + 12.36sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f621be25aa3, in ×2 + 12.36sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f621c0b7db3, in ×2 + 12.36sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.36sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.36sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.36sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f621c81bb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.36sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f621c449620, in rclcpp::Rate::sleep() ×2 + 12.36sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f621c38bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.36sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f621c34d087, in ×2 + 12.36sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f621c086390, in __cxa_throw ×2 + 12.36sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f621c070a54, in std::terminate() ×2 + 12.36sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f621c0860d9, in ×2 + 12.36sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f621c070ff4, in ×2 + 12.36sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f621bdb18fe, in abort ×2 + 12.36sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f621bdce27d, in raise ×2 + 12.36sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f621be27b2c, in pthread_kill ×2 + 12.36sERRORmove_groupAborted (Signal sent by tkill() 8866 0) ×2 + 12.36sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.36sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.36sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.36sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.36sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.36sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.36sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.36sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 12.36sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.36sINFOodom_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 + 12.36sINFOodom_qos_relay.pymain() ×2 + 12.36sINFOodom_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 + 12.36sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.36sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.36sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.36sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.36sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.36sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.36sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.36sINFOcontroller_serverCleaning up + 12.36sINFOlocal_costmap.local_costmapCleaning up + 12.37sERRORamclThe bond connection to the lifecycle manager has been broken + 12.41sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.41sINFOsmoother_serverDeactivating + 12.41sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.42sINFOsmoother_serverCleaning up + 12.44sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.44sINFOplanner_serverDeactivating + 12.44sINFOglobal_costmap.global_costmapDeactivating + 12.46sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.46sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.47sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.47sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.47sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.48sINFOplanner_serverCleaning up + 12.50sINFOglobal_costmap.global_costmapCleaning up + 12.51sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.51sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.51sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.51sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.51sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.51sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.51sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.51sINFOvelocity_smootherDeactivating + 12.51sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.54sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.54sINFObehavior_serverDeactivating + 12.54sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.55sINFObehavior_serverCleaning up + 12.56sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.56sINFObt_navigatorDeactivating + 12.56sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.57sINFObt_navigatorCleaning up + 12.60sWARNros2_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 + 12.63sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.63sINFOwaypoint_followerDeactivating + 12.63sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.72sINFObt_navigatorCompleted Cleaning up + 12.72sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.72sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.72sINFOvelocity_smootherCleaning up + 12.72sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.74sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.76sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.76sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.76sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.76sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.76sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.76sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.76sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.76sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.76sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.76sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.76sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.76sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.76sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.76sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.76sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.77sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.77sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.77sINFOwaypoint_followerCleaning up + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.80sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.80sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.80sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.80sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.80sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.09sERRORcomponent_container_isolated-1process has died [pid 8750, 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_6u565xh_ --params-file /tmp/launch_params_3s5pk4f4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.18sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8901] ×2 + 13.18sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 13.25sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8892] ×2 + 13.26sINFOui_teleop_bridge-32process has finished cleanly [pid 8897] ×2 + 13.26sINFOexecute_objective_bridge-31process has finished cleanly [pid 8896] ×2 + 13.26sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8891] ×2 + 13.30sINFOparameter_manager_node-24process has finished cleanly [pid 8867] ×2 + 13.31sINFOwaypoint_manager_node-25process has finished cleanly [pid 8890] ×2 + 13.32sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8851] ×2 + 13.32sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8758] ×2 + 13.33sINFOstatic_transform_publisher-8process has finished cleanly [pid 8757] ×2 + 13.34sINFOstatic_transform_publisher-7process has finished cleanly [pid 8756] ×2 + 13.35sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 13.35sINFOlidar_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 + 13.35sINFOlidar_flattener.pymain() ×2 + 13.35sINFOlidar_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 + 13.35sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 13.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 13.35sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 13.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 13.35sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 13.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 13.35sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 13.35sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 13.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 13.35sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 13.35sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 13.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 13.35sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 13.35sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 13.35sINFOcomponent_container_mt-30process has finished cleanly [pid 8895] ×2 + 13.36sINFOstatic_transform_publisher-4process has finished cleanly [pid 8753] ×2 + 13.38sINFOstatic_transform_publisher-3process has finished cleanly [pid 8752] ×2 + 13.39sERRORlidar_flattener.py-6process has died [pid 8755, 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_3wkcwfhc']. ×2 + 13.41sERRORodom_qos_relay.py-5process has died [pid 8754, 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 + 13.51sINFOobjective_server_node[2026-09-17 16:38:00.191] [moveit_pro_license] [info] ×2 + 13.51sINFOobjective_server_node************************************************* ×4 + 13.51sINFOobjective_server_node* MoveIt Pro License ×2 + 13.51sINFOobjective_server_node* Application has successfully terminated ×2 + 13.57sINFOobjective_server_node_main-28process has finished cleanly [pid 8893] ×2 + 13.57sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 13.69sERRORcomponent_container_isolated-2process has died [pid 8751, 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_6u565xh_ --params-file /tmp/launch_params_a9bmu924 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.37sINFOcomponent_container_mt-29process has finished cleanly [pid 8894] ×2 + 14.84sINFOweb_bridge-33process has finished cleanly [pid 8900] ×2 + 14.84sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 14.99sINFOros2_control_node-11process has finished cleanly [pid 8852] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 30 errors · 68 warnings · 273 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 0.22sWARNobjective_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 + 0.23sERRORobjective_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 + 0.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.84sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789663045.20679021 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789663045.81551957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789663046.54569125 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450866 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450866 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226806 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226806 ms (missed cycles : 3).[0m ×2 + 7.93sWARNros2_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 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994844 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994844 ms (missed cycles : 4).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440433 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440433 ms (missed cycles : 4).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249685 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249685 ms (missed cycles : 2).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868632 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868632 ms (missed cycles : 2).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190011 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190011 ms (missed cycles : 2).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259866 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259866 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789663056.63570142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631248 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631248 ms (missed cycles : 2).[0m ×2 + 15.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789663057.33587170 seconds ×3 + 15.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.65sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789663057.94349837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411213 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411213 ms (missed cycles : 3).[0m ×2 + 16.12sINFOjoint_trajectory_controllerReceived new action goal + 16.12sINFOjoint_trajectory_controllerAccepted new action goal + 16.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930989 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930989 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 49 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190011 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190011 ms (missed cycles : 2).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259866 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259866 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789663056.63570142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631248 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631248 ms (missed cycles : 2).[0m ×2 + 2.21sWARNobjective_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 + 2.21sERRORobjective_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 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789663057.33587170 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789663057.94349837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411213 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411213 ms (missed cycles : 3).[0m ×2 + 3.25sINFOjoint_trajectory_controllerReceived new action goal + 3.25sINFOjoint_trajectory_controllerAccepted new action goal + 3.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930989 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930989 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034356 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034356 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 8.60sINFOjoint_trajectory_controllerGoal reached, success! + 8.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 9.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 10.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 10.16sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 10.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.68sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789663066.62936735 seconds ×3 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[0m ×2 + 12.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.07sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789663067.23505998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.12sINFOmove_groupClearing octomap...[0m ×2 + 12.12sINFOmove_groupOctomap cleared.[0m ×2 + 12.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.13sINFOcomponent_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789663033.53096461 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.57sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.57sINFOobjective_server_nodecaller: ×8 + 2.57sINFOobjective_server_nodetype: 0 ×8 + 2.57sINFOobjective_server_nodename: "" ×8 + 2.57sINFOobjective_server_nodeinstance_id: "" ×8 + 2.57sINFOobjective_server_node ×8 + 2.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789663034.11328626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.318ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.4106e-05 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.403ms + 6.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.180ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900478 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900478 ms (missed cycles : 2).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 7.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 7.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 8.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 8.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 8.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.80sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.92sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 9.54sWARNobjective_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 + 9.55sERRORobjective_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 + 9.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 10.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 10.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 11.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.3s | 12 errors · 40 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! + 0.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.77sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.77sINFOobjective_server_nodecaller: ×8 + 0.77sINFOobjective_server_nodetype: 0 ×8 + 0.77sINFOobjective_server_nodename: "" ×8 + 0.77sINFOobjective_server_nodeinstance_id: "" ×8 + 0.77sINFOobjective_server_node ×8 + 0.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 1.68sWARNobjective_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. ×6 + 1.69sERRORobjective_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 + 1.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 1.73sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789663066.62936735 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789663067.23505998 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 + 3.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789663069.96518779 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 ms (missed cycles : 3).[0m ×2 + 6.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789663070.54592943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926477 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926477 ms (missed cycles : 4).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114058 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114058 ms (missed cycles : 2).[0m ×2 + 9.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789663073.24607944 seconds ×3 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072161 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072161 ms (missed cycles : 3).[0m ×2 + 9.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! + 1.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789663033.53096461 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.57sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.57sINFOobjective_server_nodecaller: ×2 + 2.57sINFOobjective_server_nodetype: 0 ×2 + 2.57sINFOobjective_server_nodename: "" ×2 + 2.57sINFOobjective_server_nodeinstance_id: "" ×2 + 2.57sINFOobjective_server_node ×2 + 2.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789663034.11328626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.318ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.4106e-05 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.403ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703345 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732565 ms (missed cycles : 4).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! + 1.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789663033.53096461 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600665 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.57sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.57sINFOobjective_server_nodecaller: ×2 + 2.57sINFOobjective_server_nodetype: 0 ×2 + 2.57sINFOobjective_server_nodename: "" ×2 + 2.57sINFOobjective_server_nodeinstance_id: "" ×2 + 2.57sINFOobjective_server_node ×2 + 2.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789663034.11328626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.318ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620863 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.4106e-05 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155291 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.403ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − 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 3.870638 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870638 ms (missed cycles : 3).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.403ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.180ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900478 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900478 ms (missed cycles : 2).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.48sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.48sINFOobjective_server_nodecaller: ×6 + 3.48sINFOobjective_server_nodetype: 0 ×6 + 3.48sINFOobjective_server_nodename: "" ×6 + 3.48sINFOobjective_server_nodeinstance_id: "" ×6 + 3.48sINFOobjective_server_node ×6 + 3.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.60sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 4.22sWARNobjective_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 + 4.23sERRORobjective_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 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.90sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.21sINFOobjective_server_nodecaller: ×8 + 2.21sINFOobjective_server_nodetype: 0 ×8 + 2.21sINFOobjective_server_nodename: "" ×8 + 2.21sINFOobjective_server_nodeinstance_id: "" ×8 + 2.21sINFOobjective_server_node ×8 + 2.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.33sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 2.95sWARNobjective_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 + 2.96sERRORobjective_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 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 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 · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.21sINFOobjective_server_nodecaller: ×8 + 2.21sINFOobjective_server_nodetype: 0 ×8 + 2.21sINFOobjective_server_nodename: "" ×8 + 2.21sINFOobjective_server_nodeinstance_id: "" ×8 + 2.21sINFOobjective_server_node ×8 + 2.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.33sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 2.95sWARNobjective_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 + 2.96sERRORobjective_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 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.21sINFOobjective_server_nodecaller: ×8 + 2.21sINFOobjective_server_nodetype: 0 ×8 + 2.21sINFOobjective_server_nodename: "" ×8 + 2.21sINFOobjective_server_nodeinstance_id: "" ×8 + 2.21sINFOobjective_server_node ×8 + 2.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.33sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 2.95sWARNobjective_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 + 2.96sERRORobjective_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 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 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 · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.21sINFOobjective_server_nodecaller: ×8 + 2.21sINFOobjective_server_nodetype: 0 ×8 + 2.21sINFOobjective_server_nodename: "" ×8 + 2.21sINFOobjective_server_nodeinstance_id: "" ×8 + 2.21sINFOobjective_server_node ×8 + 2.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.33sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 2.95sWARNobjective_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 + 2.96sERRORobjective_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 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.231ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.048ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680516 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.282ms + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789663039.76341677 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.120ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970303 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.21sINFOobjective_server_nodecaller: ×8 + 2.21sINFOobjective_server_nodetype: 0 ×8 + 2.21sINFOobjective_server_nodename: "" ×8 + 2.21sINFOobjective_server_nodeinstance_id: "" ×8 + 2.21sINFOobjective_server_node ×8 + 2.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789663040.34809637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.33sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 6.837ms + 2.95sWARNobjective_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 + 2.96sERRORobjective_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 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789663041.05878496 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 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 + 0.01sERRORobjective_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: 1789663041.05878496 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789663045.20679021 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2).[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: 1789663045.81551957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789663046.54569125 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4).[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 + 0.01sERRORobjective_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: 1789663041.05878496 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789663045.20679021 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2).[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: 1789663045.81551957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789663046.54569125 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4).[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 + 0.01sERRORobjective_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: 1789663041.05878496 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441745 ms (missed cycles : 4).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789663041.73080993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113322 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789663042.48098826 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789663043.09053087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108897 ms (missed cycles : 2).[0m ×2 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789663043.83068871 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160006 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789663044.43663263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789663045.20679021 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720483 ms (missed cycles : 2).[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: 1789663045.81551957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789663046.54569125 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335670 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792320 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 28 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 28 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_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 · 28 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_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 · 28 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_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 · 28 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 28 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 28 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700714 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203083 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 3.79sWARNobjective_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 + 3.80sERRORobjective_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 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 3.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 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: 1789663066.62936735 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[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: 1789663067.23505998 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 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 31 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052484 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! + 0.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789663063.77364087 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.77sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.77sINFOobjective_server_nodecaller: ×6 + 0.77sINFOobjective_server_nodetype: 0 ×6 + 0.77sINFOobjective_server_nodename: "" ×6 + 0.77sINFOobjective_server_nodeinstance_id: "" ×6 + 0.77sINFOobjective_server_node ×6 + 0.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789663064.36062145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393491 ms (missed cycles : 3).[0m ×2 + 1.68sWARNobjective_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. ×6 + 1.69sERRORobjective_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 + 1.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789663065.24081039 seconds ×3 + 1.73sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910046 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789663065.85921431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789663066.62936735 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021150 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789663067.23505998 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 + 3.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676906 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421197 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789663069.96518779 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740362 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.6s | 76 errors · 510 warnings · 2531 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/2026-09-17-16-34-10-197531-82a501455af4-7584 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.19sINFOros2_control_node-11process started with pid [7736] + 5.19sINFOmove_group-23process started with pid [7752] + 5.19sINFOparameter_manager_node-24process started with pid [7757] + 5.19sINFOwaypoint_manager_node-25process started with pid [7789] + 5.19sINFOmove_joint_resampler_node-26process started with pid [7790] + 5.19sINFOmove_end_effector_resampler_node-27process started with pid [7791] + 5.19sINFOobjective_server_node_main-28process started with pid [7792] + 5.19sINFOcomponent_container_mt-29process started with pid [7793] + 5.19sINFOcomponent_container_mt-30process started with pid [7794] + 5.19sINFOexecute_objective_bridge-31process started with pid [7795] + 5.19sINFOui_teleop_bridge-32process started with pid [7799] + 5.19sINFOweb_bridge-33process started with pid [7800] + 5.19sINFOtf2_web_republisher_node-34process started with pid [7829] + 5.19sINFOvideo_server-35process started with pid [7830] + 5.19sINFOweb_bridge_auth_proxy-36process started with pid [7838] + 5.19sINFOweb_video_auth_proxy-37process started with pid [7850] + 5.20sINFOcomponent_container_isolated-1process started with pid [7634] + 5.20sINFOcomponent_container_isolated-2process started with pid [7635] + 5.20sINFOstatic_transform_publisher-3process started with pid [7636] + 5.20sINFOstatic_transform_publisher-4process started with pid [7637] + 5.20sINFOodom_qos_relay.py-5process started with pid [7638] + 5.20sINFOlidar_flattener.py-6process started with pid [7639] + 5.20sINFOstatic_transform_publisher-7process started with pid [7640] + 5.20sINFOstatic_transform_publisher-8process started with pid [7641] + 5.20sINFOscan_to_scan_filter_chain-9process started with pid [7642] + 5.20sINFOscan_to_scan_filter_chain-10process started with pid [7735] + 5.20sINFOros2-12process started with pid [7737] + 5.20sINFOros2-13process started with pid [7738] + 5.20sINFOros2-14process started with pid [7739] + 5.20sINFOros2-15process started with pid [7740] + 5.20sINFOros2-16process started with pid [7743] + 5.20sINFOros2-17process started with pid [7746] + 5.20sINFOros2-18process started with pid [7747] + 5.20sINFOros2-19process started with pid [7748] + 5.20sINFOros2-20process started with pid [7749] + 5.20sINFOros2-21process started with pid [7750] + 5.20sINFOros2-22process started with pid [7751] + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.25sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.25sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.25sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.25sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.27sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×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 + 5.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.40sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.43sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398183 ms (missed cycles : 3).[0m + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.57sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.57sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.57sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.59sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.62sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.63sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.71sINFOvideo_server2026/09/17 16:34:17 INF MediaMTX v1.20.1, linux, amd64 + 5.71sINFOvideo_server2026/09/17 16:34:17 INF configuration loaded from /tmp/moveit-webrtc-8xka9mu2/mediamtx.yml + 5.71sINFOvideo_server2026/09/17 16:34:17 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.72sINFOvideo_server2026/09/17 16:34:17 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' 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 + 5.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.94sINFOmove_groupLoaded robot model in 0.273311 seconds[0m + 5.94sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.95sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 6.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 6.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.42sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.71sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.71sWARNmove_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 + 6.72sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101253 ms (missed cycles : 2).[0m + 6.92sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.92sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.94sINFOros2_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 + 6.94sINFOros2_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 + 7.02sINFOmove_group[2026-09-17 16:34:18.920] [moveit_pro_license] [info] + 7.02sINFOmove_group************************************************* ×6 + 7.02sINFOmove_group* MoveIt Pro License ×3 + 7.02sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.12sINFOwaypoint_manager_nodeLoaded robot model in 0.400928 seconds[0m + 7.13sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 7.13sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.50sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.50sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.50sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.51sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.51sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.51sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.51sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.51sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.51sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.51sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.51sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.63sWARNwaypoint_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 + 7.63sWARNwaypoint_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 + 7.63sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.64sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.65sWARNwaypoint_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 + 7.66sWARNwaypoint_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 + 7.66sWARNwaypoint_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 + 7.66sWARNwaypoint_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 + 7.66sWARNwaypoint_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 + 7.79sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.79sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.79sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.79sWARNros2_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 + 7.79sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.79sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.79sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.79sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.79sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.79sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.79sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.79sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.79sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.79sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.79sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.79sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.79sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.79sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 7.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 7.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 7.94sINFOwaypoint_manager_node[2026-09-17 16:34:19.837] [moveit_pro_license] [info] + 7.94sINFOwaypoint_manager_node************************************************* ×6 + 7.94sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.94sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757933 ms (missed cycles : 2).[0m + 8.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 8.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 8.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 8.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 8.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 8.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 8.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 8.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 8.07sINFOros2_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 + 8.07sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.07sWARNros2_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 + 8.35sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 8.35sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 8.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 8.40sINFOros2-18process has finished cleanly [pid 7747] + 8.42sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 8.43sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 8.43sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 8.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.44sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 8.45sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 8.45sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 8.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 8.49sINFOobjective_server_node[2026-09-17 16:34:20.388] [moveit_pro_license] [info] + 8.49sINFOobjective_server_node************************************************* ×8 + 8.49sINFOobjective_server_node* MoveIt Pro License ×4 + 8.49sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.54sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.54sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.54sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.55sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.55sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.55sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.55sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.55sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.55sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.56sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.56sINFOcomponent_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 + 8.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.58sINFOobjective_server_nodeLoaded robot model in 0.028188 seconds[0m + 8.58sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.58sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 8.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.78sINFOcomponent_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 + 8.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.79sINFOros2-13process has finished cleanly [pid 7738] + 8.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 8.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 8.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 8.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.96sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.96sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809013 ms (missed cycles : 2).[0m + 9.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.03sWARNcomponent_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 + 9.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.07sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.08sWARNobjective_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 + 9.09sWARNobjective_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 + 9.09sWARNobjective_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 + 9.09sWARNobjective_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 + 9.09sWARNobjective_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 + 9.17sINFOobjective_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 + 9.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 9.19sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.19sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.19sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.19sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.19sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.19sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.19sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.36sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.40sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.40sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.43sINFOros2_control_node[2026-09-17 16:34:21.329] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.44sINFOros2_control_node[2026-09-17 16:34:21.332] [info] Controller state will be published at 10 Hz. + 9.44sINFOros2_control_node[2026-09-17 16:34:21.333] [info] VelocityForceController 'on_configure' succeeded. + 9.44sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.44sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.44sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.44sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.45sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.48sINFOcomponent_container_mtLoaded robot model in 0.454264 seconds[0m + 9.48sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 9.48sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.55sINFOmove_group ×12 + 9.55sINFOmove_group******************************************************** ×6 + 9.55sINFOmove_group* MoveGroup using: ×3 + 9.55sINFOmove_group* - apply_planning_scene_service ×3 + 9.55sINFOmove_group* - clear_octomap_service ×3 + 9.55sINFOmove_group* - get_group_urdf ×3 + 9.55sINFOmove_group* - load_geometry_from_file ×3 + 9.55sINFOmove_group* - get_planning_scene_service ×3 + 9.55sINFOmove_group* - kinematics_service ×3 + 9.55sINFOmove_group* - save_geometry_to_file ×3 + 9.55sINFOmove_group* - GetPlanningGroups ×3 + 9.55sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.55sINFOmove_group[0m ×3 + 9.55sINFOmove_group[92mYou can start planning now![0m ×3 + 9.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 9.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 9.76sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 9.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 9.82sINFOros2-19process has finished cleanly [pid 7748] + 9.82sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 9.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 9.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 9.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 9.84sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 9.93sWARNros2_control_nodeCamera render tick took 0.93 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.95sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.96sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.97sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 9.98sWARNcomponent_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 + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050292 ms (missed cycles : 4).[0m + 10.15sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.15sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 10.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 10.17sINFOcomponent_container_mt[2026-09-17 16:34:22.064] [moveit_pro_license] [info] + 10.17sINFOcomponent_container_mt************************************************* ×6 + 10.17sINFOcomponent_container_mt* MoveIt Pro License ×3 + 10.17sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 10.17sINFOros2-16process has finished cleanly [pid 7743] + 10.23sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 10.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 10.24sINFOros2_control_nodeconfigure successful[0m ×9 + 10.47sWARNros2_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 ×3 + 10.56sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.56sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 10.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 10.58sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 10.59sINFOros2-17process has finished cleanly [pid 7746] + 10.63sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 10.63sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 10.64sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 10.64sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 10.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 11.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 11.01sINFOros2-12process has finished cleanly [pid 7737] + 11.05sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 11.05sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346261 ms (missed cycles : 4).[0m + 11.10sWARNobjective_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 + 11.44sINFOros2_control_node[2026-09-17 16:34:23.340] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.44sINFOros2_control_node[2026-09-17 16:34:23.341] [info] Controller state will be published at 10 Hz. + 11.44sINFOros2_control_node[2026-09-17 16:34:23.342] [info] VelocityForceController 'on_configure' succeeded. + 11.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.78sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.78sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 11.79sINFOros2-20process has finished cleanly [pid 7749] + 11.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 11.90sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 11.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738061 ms (missed cycles : 2).[0m + 12.33sINFOros2_control_node[2026-09-17 16:34:24.231] [info] Controller state will be published at 20 Hz. + 12.33sINFOros2_control_node[2026-09-17 16:34:24.232] [info] JointVelocityController 'on_configure' succeeded. + 12.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 12.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 12.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 12.69sINFOros2-22process has finished cleanly [pid 7751] + 12.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 12.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 12.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 12.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 12.72sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 13.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 13.05sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 13.05sINFOros2-14process has finished cleanly [pid 7739] + 13.10sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 13.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 13.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 13.12sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237899 ms (missed cycles : 2).[0m + 13.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 13.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 13.46sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zbm507t7 --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_sl2zcnns --params-file /tmp/launch_params_ldpb5dfq [0m + 13.47sINFOros2-15process has finished cleanly [pid 7740] + 13.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 13.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 13.99sINFOros2_control_node[2026-09-17 16:34:25.888] [info] Controller state will be published at 20 Hz. + 13.99sINFOros2_control_node[2026-09-17 16:34:25.889] [info] JointVelocityController 'on_configure' succeeded. + 14.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 14.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 14.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 14.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 14.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130835 ms (missed cycles : 2).[0m + 14.32sINFOros2-21process has finished cleanly [pid 7750] + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182534 ms (missed cycles : 4).[0m + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142115 ms (missed cycles : 2).[0m + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170339 ms (missed cycles : 2).[0m + 17.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691752 ms (missed cycles : 3).[0m + 19.16sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 19.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 19.16sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 19.16sINFOobjective_server_nodeparameter_overrides: [] ×27 + 19.16sINFOobjective_server_nodecaller: ×27 + 19.16sINFOobjective_server_nodetype: 0 ×27 + 19.16sINFOobjective_server_nodename: "" ×27 + 19.16sINFOobjective_server_nodeinstance_id: "" ×27 + 19.16sINFOobjective_server_node ×27 + 19.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662871.09222269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.20sINFOmove_groupClearing octomap...[0m ×7 + 19.20sINFOmove_groupOctomap cleared.[0m ×7 + 19.20sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662871.10241795 seconds + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521852 ms (missed cycles : 3).[0m + 19.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662871.68495584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662871.69509101 seconds + 20.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662872.27419329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766413 ms (missed cycles : 2).[0m + 20.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662872.42503119 seconds + 21.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 21.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662873.04062772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 21.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 21.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 21.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662873.10076332 seconds + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393860 ms (missed cycles : 3).[0m + 21.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662873.67834854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054882 ms (missed cycles : 2).[0m + 22.85sINFOobjective_server_nodePlanning for 177 path waypoints. + 23.14sINFOros2_control_nodeReceived new action goal[0m ×3 + 23.14sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166414 ms (missed cycles : 4).[0m + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173380 ms (missed cycles : 2).[0m + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749667 ms (missed cycles : 2).[0m + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309911 ms (missed cycles : 2).[0m + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419404 ms (missed cycles : 3).[0m + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115285 ms (missed cycles : 2).[0m + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678656 ms (missed cycles : 2).[0m + 30.98sWARNros2_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 + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415971 ms (missed cycles : 3).[0m + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885603 ms (missed cycles : 2).[0m + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496508 ms (missed cycles : 2).[0m + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927624 ms (missed cycles : 2).[0m + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775996 ms (missed cycles : 2).[0m + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516996 ms (missed cycles : 3).[0m + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864575 ms (missed cycles : 2).[0m + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145368 ms (missed cycles : 2).[0m + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323069 ms (missed cycles : 2).[0m + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506816 ms (missed cycles : 4).[0m + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182957 ms (missed cycles : 2).[0m + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302594 ms (missed cycles : 2).[0m + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308244 ms (missed cycles : 2).[0m + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702410 ms (missed cycles : 5).[0m + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548091 ms (missed cycles : 3).[0m + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259866 ms (missed cycles : 4).[0m + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660293 ms (missed cycles : 3).[0m + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583357 ms (missed cycles : 4).[0m + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747952 ms (missed cycles : 5).[0m + 50.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137676 ms (missed cycles : 2).[0m + 51.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322486 ms (missed cycles : 3).[0m + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833076 ms (missed cycles : 2).[0m + 54.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190851 ms (missed cycles : 2).[0m + 55.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511748 ms (missed cycles : 3).[0m + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116301 ms (missed cycles : 2).[0m + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732035 ms (missed cycles : 2).[0m + 58.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223561 ms (missed cycles : 2).[0m + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495697 ms (missed cycles : 3).[0m + 60.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842943 ms (missed cycles : 5).[0m + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877863 ms (missed cycles : 2).[0m + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007094 ms (missed cycles : 2).[0m + 63.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864774 ms (missed cycles : 4).[0m + 64.73sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789662916.64923191 seconds + 64.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523597 ms (missed cycles : 3).[0m + 65.29sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789662917.23065734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.53sWARNros2_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 ×3 + 66.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676083 ms (missed cycles : 2).[0m + 66.50sINFOobjective_server_nodeFound path in 0 iterations (2.4476e-05 s). + 66.58sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 67.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933965 ms (missed cycles : 4).[0m + 68.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885009 ms (missed cycles : 2).[0m + 69.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822135 ms (missed cycles : 3).[0m + 70.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065114 ms (missed cycles : 2).[0m + 70.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662922.85078740 seconds + 71.49sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662923.42646861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178741 ms (missed cycles : 2).[0m + 72.26sWARNobjective_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 + 72.27sERRORobjective_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 + 72.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662924.16665483 seconds + 72.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734687 ms (missed cycles : 2).[0m + 72.90sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662924.83979154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662925.65999532 seconds + 73.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476338 ms (missed cycles : 2).[0m + 74.33sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662926.27059054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866592 ms (missed cycles : 2).[0m + 75.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662927.00075173 seconds + 75.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.72sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662927.61668134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834743 ms (missed cycles : 3).[0m + 76.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662928.32683015 seconds + 77.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 77.04sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662928.93882442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518563 ms (missed cycles : 3).[0m + 77.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662929.72899652 seconds + 78.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138789 ms (missed cycles : 4).[0m + 79.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831966 ms (missed cycles : 2).[0m + 80.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021384 ms (missed cycles : 3).[0m + 81.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357131 ms (missed cycles : 3).[0m + 82.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467888 ms (missed cycles : 2).[0m + 83.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220499 ms (missed cycles : 2).[0m + 84.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381333 ms (missed cycles : 2).[0m + 85.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075633 ms (missed cycles : 2).[0m + 86.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192229 ms (missed cycles : 2).[0m + 87.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134857 ms (missed cycles : 2).[0m + 87.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789662939.67035913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789662940.43056679 seconds + 89.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975624 ms (missed cycles : 4).[0m + 89.10sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 89.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789662941.03662276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 90.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442181 ms (missed cycles : 3).[0m + 91.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966195 ms (missed cycles : 2).[0m + 92.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371965 ms (missed cycles : 4).[0m + 93.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205740 ms (missed cycles : 2).[0m + 94.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091667 ms (missed cycles : 2).[0m + 94.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662946.87675214 seconds + 95.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662947.46687675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735609 ms (missed cycles : 3).[0m + 96.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662948.19791627 seconds + 96.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666834 ms (missed cycles : 3).[0m + 96.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662948.81268525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662949.53283858 seconds + 97.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667539 ms (missed cycles : 2).[0m + 98.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 98.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662950.15142012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879048 ms (missed cycles : 2).[0m + 99.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418451 ms (missed cycles : 2).[0m +100.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273400 ms (missed cycles : 3).[0m +101.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789662952.97155857 seconds +101.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789662953.54224753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146011 ms (missed cycles : 2).[0m +102.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789662954.43236780 seconds +102.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +103.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327740 ms (missed cycles : 3).[0m +103.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134005 ms (missed cycles : 2).[0m +104.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645401 ms (missed cycles : 2).[0m +105.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980875 ms (missed cycles : 4).[0m +106.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664627 ms (missed cycles : 3).[0m +107.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276919 ms (missed cycles : 2).[0m +108.02sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.02sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.02sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORweb_video_auth_proxy-37process has died [pid 7850, 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']. +108.03sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.06sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.06sERRORweb_bridge_auth_proxy-36process has died [pid 7838, 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']. +108.06sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.07sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.08sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.09sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.09sINFOvideo_server-35process has finished cleanly [pid 7830] +108.10sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.11sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.12sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.13sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.14sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.15sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.16sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.17sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.18sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.19sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.20sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.21sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.23sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.23sERRORmove_group-23process has died [pid 7752, 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_ohg71dab --params-file /tmp/launch_params_7yg3uihq --params-file /tmp/launch_params_7p9otv_6 --params-file /tmp/launch_params_179br883 --params-file /tmp/launch_params_v0w4qya0 --params-file /tmp/launch_params_7w8ltzjp']. +108.24sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.25sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.26sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.26sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.27sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.28sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.29sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.29sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.29sINFOvideo_server2026/09/17 16:35:59 INF shutting down gracefully +108.29sINFOvideo_server2026/09/17 16:35:59 INF [WebRTC] closing +108.29sINFOvideo_server2026/09/17 16:35:59 INF [RTSP] closing +108.29sINFOvideo_server2026/09/17 16:35:59 INF waiting for running hooks +108.29sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.29sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.30sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.30sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.30sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.30sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.30sINFOcomponent_container_mtStopping planning scene monitor[0m +108.30sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.30sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.30sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.30sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.30sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.30sERRORmove_groupStack trace (most recent call last) in thread 8392: +108.30sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.30sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb439d00a63, in __clone +108.30sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb439c73aa3, in +108.30sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb439f05db3, in +108.30sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fb43a669b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.30sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb43a297620, in rclcpp::Rate::sleep() +108.30sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb43a1d9d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.30sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb43a19b087, in +108.30sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb439ed4390, in __cxa_throw +108.30sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb439ebea54, in std::terminate() +108.30sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb439ed40d9, in +108.30sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb439ebeff4, in +108.30sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb439bff8fe, in abort +108.30sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb439c1c27d, in raise +108.30sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb439c75b2c, in pthread_kill +108.30sERRORmove_groupAborted (Signal sent by tkill() 7752 0) +108.30sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.30sINFOros2_control_nodeShutdown request received....[0m +108.30sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.30sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.30sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.30sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.30sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.30sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.30sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.30sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.30sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.30sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.30sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.30sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.30sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.30sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.30sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.30sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.30sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.30sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.30sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.30sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.30sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.30sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.30sINFOros2_control_nodeShutting down the controller manager.[0m +108.30sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +108.30sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 +108.30sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.30sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.30sERRORodom_qos_relay.pyTraceback (most recent call last): +108.30sINFOodom_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> +108.30sINFOodom_qos_relay.pymain() +108.30sINFOodom_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 +108.31sINFOodom_qos_relay.pyrclpy.spin(node) +108.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.31sINFOodom_qos_relay.pyexecutor.spin_once() +108.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.31sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.31sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.31sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.31sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.31sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.31sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.31sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.31sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.41sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.41sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +108.53sWARNros2_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 +109.14sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7829] +109.14sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.20sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7791] +109.21sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7790] +109.21sINFOui_teleop_bridge-32process has finished cleanly [pid 7799] +109.21sINFOexecute_objective_bridge-31process has finished cleanly [pid 7795] +109.24sINFOparameter_manager_node-24process has finished cleanly [pid 7757] +109.26sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7735] +109.26sINFOwaypoint_manager_node-25process has finished cleanly [pid 7789] +109.27sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7642] +109.27sINFOstatic_transform_publisher-8process has finished cleanly [pid 7641] +109.28sINFOstatic_transform_publisher-7process has finished cleanly [pid 7640] +109.29sERRORlidar_flattener.pyTraceback (most recent call last): +109.29sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.29sINFOlidar_flattener.pymain() +109.29sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.29sINFOlidar_flattener.pyrclpy.spin(node) +109.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.29sINFOlidar_flattener.pyexecutor.spin_once() +109.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.29sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.29sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.29sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.29sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.29sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.29sINFOlidar_flattener.pyraise ExternalShutdownException() +109.29sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.29sINFOcomponent_container_mt-30process has finished cleanly [pid 7794] +109.31sINFOstatic_transform_publisher-4process has finished cleanly [pid 7637] +109.32sINFOstatic_transform_publisher-3process has finished cleanly [pid 7636] +109.33sERRORlidar_flattener.py-6process has died [pid 7639, 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_fn9k68y5']. +109.34sINFOobjective_server_node[2026-09-17 16:36:01.234] [moveit_pro_license] [info] +109.34sINFOobjective_server_node* Application has successfully terminated +109.36sERRORodom_qos_relay.py-5process has died [pid 7638, 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']. +109.39sINFOobjective_server_node_main-28process has finished cleanly [pid 7792] +109.39sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +109.74sERRORcomponent_container_isolated-1process has died [pid 7634, 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_kym4yn_3 --params-file /tmp/launch_params_44elav_n -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.32sINFOcomponent_container_mt-29process has finished cleanly [pid 7793] +110.62sERRORcomponent_container_isolated-2process has died [pid 7635, 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_kym4yn_3 --params-file /tmp/launch_params_w_b_0tw7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.85sINFOweb_bridge-33process has finished cleanly [pid 7800] +110.85sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +110.94sINFOros2_control_node-11process has finished cleanly [pid 7736] +116.61sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-16-36-06-834668-82a501455af4-8700 ×2 +121.46sINFOstatic_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' +121.46sINFOstatic_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' +121.47sINFOstatic_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' +121.48sINFOstatic_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' +121.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +121.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.66sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +121.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.69sINFOros2_control_node-11process started with pid [8852] ×2 +121.69sINFOmove_group-23process started with pid [8866] ×2 +121.69sINFOparameter_manager_node-24process started with pid [8867] ×2 +121.69sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.69sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.70sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.70sINFOwaypoint_manager_node-25process started with pid [8890] ×2 +121.70sINFOmove_joint_resampler_node-26process started with pid [8891] ×2 +121.70sINFOmove_end_effector_resampler_node-27process started with pid [8892] ×2 +121.70sINFOobjective_server_node_main-28process started with pid [8893] ×2 +121.70sINFOcomponent_container_mt-29process started with pid [8894] ×2 +121.70sINFOcomponent_container_mt-30process started with pid [8895] ×2 +121.70sINFOexecute_objective_bridge-31process started with pid [8896] ×2 +121.70sINFOui_teleop_bridge-32process started with pid [8897] ×2 +121.70sINFOweb_bridge-33process started with pid [8900] ×2 +121.70sINFOtf2_web_republisher_node-34process started with pid [8901] ×2 +121.70sINFOvideo_server-35process started with pid [8917] ×2 +121.71sINFOweb_bridge_auth_proxy-36process started with pid [8918] ×2 +121.71sINFOweb_video_auth_proxy-37process started with pid [8919] ×2 +121.71sINFOcomponent_container_isolated-1process started with pid [8750] ×2 +121.71sINFOcomponent_container_isolated-2process started with pid [8751] ×2 +121.71sINFOstatic_transform_publisher-3process started with pid [8752] ×2 +121.71sINFOstatic_transform_publisher-4process started with pid [8753] ×2 +121.71sINFOodom_qos_relay.py-5process started with pid [8754] ×2 +121.71sINFOlidar_flattener.py-6process started with pid [8755] ×2 +121.72sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +121.73sINFOstatic_transform_publisher-7process started with pid [8756] ×2 +121.73sINFOstatic_transform_publisher-8process started with pid [8757] ×2 +121.73sINFOscan_to_scan_filter_chain-9process started with pid [8758] ×2 +121.73sINFOscan_to_scan_filter_chain-10process started with pid [8851] ×2 +121.73sINFOros2-12process started with pid [8853] ×2 +121.73sINFOros2-13process started with pid [8854] ×2 +121.73sINFOros2-14process started with pid [8855] ×2 +121.73sINFOros2-15process started with pid [8856] ×2 +121.73sINFOros2-16process started with pid [8857] ×2 +121.73sINFOros2-17process started with pid [8858] ×2 +121.73sINFOros2-18process started with pid [8861] ×2 +121.73sINFOros2-19process started with pid [8862] ×2 +121.73sINFOros2-20process started with pid [8863] ×2 +121.73sINFOros2-21process started with pid [8864] ×2 +121.73sINFOros2-22process started with pid [8865] ×2 +121.75sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +121.78sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +121.78sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +121.79sINFOcontroller_serverCreating controller server +121.79sINFOcontroller_managerupdate rate is 600 Hz +121.79sINFOcontroller_managerOverruns handling is : enabled +121.79sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +121.79sWARNcontroller_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. +121.82sINFOlocal_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. +121.83sINFOlocal_costmap.local_costmapCreating Costmap +121.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +121.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.89sINFOsmoother_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. +121.91sINFOsmoother_serverCreating smoother server +121.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +121.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990625 ms (missed cycles : 2). +121.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990625 ms (missed cycles : 2).[0m ×2 +121.91sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +121.92sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +121.92sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.92sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.93sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +121.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +121.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.95sINFOmap_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. +121.95sINFOmap_serverCreating +121.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +121.99sINFOplanner_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. +122.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.03sINFOvideo_server2026/09/17 16:36:13 INF MediaMTX v1.20.1, linux, amd64 ×2 +122.03sINFOvideo_server2026/09/17 16:36:13 INF configuration loaded from /tmp/moveit-webrtc-4ttwcgft/mediamtx.yml ×2 +122.03sINFOvideo_server2026/09/17 16:36:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +122.03sINFOvideo_server2026/09/17 16:36:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +122.04sINFOplanner_serverCreating +122.05sINFOrobot_state_publisherRobot initialized +122.07sINFOglobal_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. +122.08sINFOcontroller_managerReceived robot description from topic. +122.08sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +122.10sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.10sINFOglobal_costmap.global_costmapCreating Costmap +122.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +122.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.12sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +122.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.14sINFOlifecycle_manager_localizationCreating +122.17sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.17sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +122.17sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.19sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +122.19sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +122.19sINFOmap_serverConfiguring +122.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.25sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +122.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +122.26sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +122.26sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +122.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.33sINFObt_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. +122.33sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +122.33sINFOamclConfiguring +122.33sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +122.33sINFOmap_serverActivating +122.34sINFOmap_serverCreating bond (map_server) to lifecycle manager. +122.37sINFObt_navigatorCreating +122.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +122.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.43sINFOwaypoint_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. +122.44sINFOwaypoint_followerCreating +122.45sINFOlifecycle_manager_localizationServer map_server connected with bond. +122.45sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +122.45sINFOamclActivating +122.45sINFOamclSubscribed to initial_pose_topic: /initialpose +122.45sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +122.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +122.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.47sINFOamclSubscribed to map_topic: /map +122.47sINFOamclSubscribed to scan_topic: /scan_merged +122.47sINFOamclCreated reinitialize_global_localization service +122.47sINFOamclCreated request_nomotion_update service +122.48sINFOamclA new map was received +122.48sINFOamclInitializing particle filter instance +122.49sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +122.50sINFOvelocity_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. +122.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.57sINFOlifecycle_manager_navigationCreating +122.59sWARNlaser_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. +122.60sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.494011 seconds +122.60sINFOmove_groupLoaded robot model in 0.494011 seconds[0m ×2 +122.60sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +122.60sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +122.61sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.63sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +122.63sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +122.63sINFOcontroller_serverConfiguring controller interface +122.63sINFOcontroller_servergetting progress checker plugins.. +122.63sINFOcontroller_servergetting goal checker plugins.. +122.63sINFOcontroller_serverController frequency set to 20.0000Hz +122.63sINFOlocal_costmap.local_costmapConfiguring +122.64sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +122.67sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +122.70sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +122.70sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +122.71sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +122.79sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +122.80sINFOcontroller_serverController Server has progress_checker progress checkers available. +122.80sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +122.81sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +122.82sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +122.84sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +122.85sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +122.87sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +122.87sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +122.88sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +122.88sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +122.89sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +122.89sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +122.89sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +122.89sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +122.89sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +122.89sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +122.89sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +122.90sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +122.90sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +122.91sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +122.91sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +122.91sINFOcontroller_serverOptimizer reset ×2 +122.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418153 ms (missed cycles : 6). +122.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418153 ms (missed cycles : 6).[0m ×2 +122.93sINFOcontroller_serverController Server has FollowPath controllers available. +122.95sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +122.95sINFOsmoother_serverConfiguring smoother server +122.97sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +122.98sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +123.00sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +123.00sINFOplanner_serverConfiguring +123.00sINFOglobal_costmap.global_costmapConfiguring +123.04sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +123.05sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +123.05sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +123.05sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +123.06sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +123.08sINFOamclParticle filter initialization completed +123.08sINFOamclInitializing particles from estimated pose and covariance +123.09sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +123.11sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +123.11sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +123.11sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +123.16sINFOlifecycle_manager_localizationServer amcl connected with bond. +123.16sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +123.16sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +123.16sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +123.17sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +123.17sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +123.18sINFOplanner_serverPlanner Server has GridBased planners available. +123.19sINFOamclThe bond connection to the lifecycle manager is now fully formed +123.20sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +123.20sINFObehavior_serverConfiguring +123.21sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +123.21sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +123.22sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +123.22sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +123.22sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +123.23sINFObehavior_serverConfiguring spin +123.24sINFObehavior_serverConfiguring backup +123.24sINFObehavior_serverConfiguring drive_on_heading +123.25sINFObehavior_serverConfiguring assisted_teleop +123.26sINFObehavior_serverConfiguring wait +123.26sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +123.26sINFObt_navigatorConfiguring +123.27sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +123.28sWARNbt_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 +123.33sINFOwaypoint_manager_nodeLoaded robot model in 0.32719 seconds[0m ×2 +123.33sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.33sWARNmove_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. +123.37sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +123.40sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +123.40sINFOwaypoint_followerConfiguring +123.42sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +123.43sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +123.43sINFOvelocity_smootherConfiguring velocity smoother +123.43sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +123.43sINFOcontroller_serverActivating +123.43sINFOlocal_costmap.local_costmapActivating +123.43sINFOlocal_costmap.local_costmapChecking transform +123.43sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×13 +123.55sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +123.55sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +123.70sINFOmove_group[2026-09-17 16:36:15.596] [moveit_pro_license] [info] ×2 +123.72sWARNwaypoint_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. +123.72sWARNwaypoint_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. +123.73sWARNwaypoint_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. +123.73sWARNwaypoint_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. +123.73sWARNwaypoint_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. +123.73sWARNwaypoint_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. +123.74sWARNwaypoint_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. +123.74sWARNwaypoint_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. +123.74sWARNwaypoint_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. +123.74sWARNwaypoint_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. +123.75sWARNwaypoint_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. +123.75sWARNwaypoint_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. +123.75sWARNwaypoint_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. +123.75sWARNwaypoint_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. +123.75sWARNwaypoint_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. +123.75sWARNwaypoint_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. +123.76sWARNwaypoint_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. +123.76sWARNwaypoint_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. +123.76sWARNwaypoint_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. +123.76sWARNwaypoint_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. +123.77sWARNwaypoint_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. +123.77sWARNwaypoint_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. +123.77sWARNwaypoint_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. +123.77sWARNwaypoint_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. +123.77sWARNwaypoint_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. +123.77sWARNwaypoint_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. +123.78sWARNwaypoint_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. +123.78sWARNwaypoint_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. +124.08sINFOwaypoint_manager_node[2026-09-17 16:36:15.982] [moveit_pro_license] [info] ×2 +124.22sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +124.23sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +124.23sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +124.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +124.23sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +124.23sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +124.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +124.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +124.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +124.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +124.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +124.37sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +124.37sINFOcontroller_managerActivating component 'ur_mujoco_control'. +124.37sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +124.37sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +124.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684363 ms (missed cycles : 2). +124.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684363 ms (missed cycles : 2).[0m ×2 +124.50sINFOobjective_server_node[2026-09-17 16:36:16.398] [moveit_pro_license] [info] ×2 +124.59sINFOobjective_server_nodeLoaded robot model in 0.0323347 seconds[0m ×2 +124.60sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +124.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' +124.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +124.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +124.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +124.75sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +124.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +124.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +124.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +124.84sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +124.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +124.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +124.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +124.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +124.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +124.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +124.87sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +124.88sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +124.88sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +124.88sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +124.88sINFOstreaming_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) +124.88sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +124.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +124.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.05sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.06sWARNobjective_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. +125.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.08sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.10sINFOstreaming_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) +125.11sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +125.28sINFOros2_control_node[2026-09-17 16:36:17.174] [info] Controller state will be published at 20 Hz. ×2 +125.28sINFOros2_control_node[2026-09-17 16:36:17.175] [info] JointVelocityController 'on_configure' succeeded. ×2 +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.32sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.34sINFOcomponent_container_mtLoaded robot model in 0.373023 seconds[0m ×2 +125.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828041 ms (missed cycles : 2). +125.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828041 ms (missed cycles : 2).[0m ×2 +125.61sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +125.61sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +125.62sINFOros2-21process has finished cleanly [pid 8864] ×2 +125.62sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +125.68sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +125.68sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +125.72sWARNplanning_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. +125.72sWARNplanning_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. +125.72sWARNplanning_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. +125.72sWARNplanning_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. +125.72sWARNplanning_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. +125.72sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.73sWARNplanning_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. +125.74sWARNplanning_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. +125.74sWARNplanning_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. +125.74sWARNplanning_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. +125.74sWARNplanning_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. +125.75sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +125.76sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +125.95sINFOmove_groupMoveGroup debug mode is ON +126.03sINFOcomponent_container_mt[2026-09-17 16:36:17.931] [moveit_pro_license] [info] ×2 +126.13sINFOmove_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
********************************************************
+126.17sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +126.19sINFOros2_control_node[2026-09-17 16:36:18.091] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +126.20sINFOros2_control_node[2026-09-17 16:36:18.094] [info] Controller state will be published at 10 Hz. ×2 +126.20sINFOros2_control_node[2026-09-17 16:36:18.095] [info] VelocityForceController 'on_configure' succeeded. ×2 +126.21sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.21sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.50sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +126.50sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +126.50sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +126.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +126.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818378 ms (missed cycles : 2). +126.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818378 ms (missed cycles : 2).[0m ×2 +126.54sINFOros2-20process has finished cleanly [pid 8863] ×2 +126.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +126.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +126.59sINFOforce_torque_sensor_broadcasterconfigure successful +126.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +126.60sINFOcontroller_managerSuccessfully switched controllers! ×20 +126.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +126.99sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.99sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +126.99sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +127.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +127.03sINFOros2-12process has finished cleanly [pid 8853] ×2 +127.04sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +127.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +127.23sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789662977.416 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +127.40sINFOros2_control_node[2026-09-17 16:36:19.301] [info] Controller state will be published at 20 Hz. ×2 +127.40sINFOros2_control_node[2026-09-17 16:36:19.302] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282740 ms (missed cycles : 2). +127.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282740 ms (missed cycles : 2).[0m ×2 +127.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +127.74sINFOcontroller_managerLoading controller 'velocity_force_controller' +127.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +127.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +127.75sINFOros2-22process has finished cleanly [pid 8865] ×2 +127.79sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +127.79sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +128.14sINFOros2_control_node[2026-09-17 16:36:20.035] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +128.14sINFOros2_control_node[2026-09-17 16:36:20.036] [info] Controller state will be published at 10 Hz. ×2 +128.14sINFOros2_control_node[2026-09-17 16:36:20.037] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +128.46sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +128.46sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +128.46sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +128.48sINFOros2-19process has finished cleanly [pid 8862] ×2 +128.52sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +128.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +128.53sINFOplatform_velocity_controller_nav2configure successful +128.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921616 ms (missed cycles : 2). +128.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921616 ms (missed cycles : 2).[0m ×2 +128.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +128.87sINFOcontroller_managerLoading controller 'vacuum_gripper' +128.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +128.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +128.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +128.89sINFOros2-17process has finished cleanly [pid 8858] ×2 +128.92sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +128.92sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +128.92sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +128.92sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +128.93sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +129.28sINFOros2-16process has finished cleanly [pid 8857] ×2 +129.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +129.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +129.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +129.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +129.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +129.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +129.44sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +129.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +129.45sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +129.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +129.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +129.77sINFOros2-18process has finished cleanly [pid 8861] ×2 +129.79sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +129.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +129.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +129.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +129.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +129.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +129.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +129.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +129.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +129.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590726 ms (missed cycles : 5). +129.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590726 ms (missed cycles : 5).[0m ×2 +129.93sINFOlocal_costmap.local_costmapstart +130.03sWARNcontroller_serverParameter controller_server.verbose not found +130.04sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +130.14sINFOlifecycle_manager_navigationServer controller_server connected with bond. +130.14sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +130.14sINFOsmoother_serverActivating +130.14sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +130.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +130.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +130.19sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789662980.580 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +130.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +130.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +130.22sINFOros2-14process has finished cleanly [pid 8855] ×2 +130.24sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +130.24sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +130.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +130.25sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +130.25sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +130.25sINFOplanner_serverActivating +130.25sINFOglobal_costmap.global_costmapActivating +130.25sINFOglobal_costmap.global_costmapChecking transform +130.25sINFOglobal_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. +130.25sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +130.46sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789662981.565 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +130.59sINFOros2-13process has finished cleanly [pid 8854] ×2 +130.59sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +130.59sINFOcontroller_managerLoading controller 'platform_velocity_controller' +130.59sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k +130.59sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7c8fd3fl --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_956r96oo --params-file /tmp/launch_params_x07adm2k [0m ×2 +130.64sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +130.65sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +130.65sINFOplatform_velocity_controllerconfigure successful +130.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +130.66sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +130.73sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 30.298ms +130.75sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789662982.620939, but only time 1789662983.071202 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +130.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +130.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +130.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783880 ms (missed cycles : 4). +130.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783880 ms (missed cycles : 4).[0m ×2 +130.99sINFOros2-15process has finished cleanly [pid 8856] ×2 +131.25sINFOglobal_costmap.global_costmapstart +132.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826035 ms (missed cycles : 2). +132.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826035 ms (missed cycles : 2).[0m ×2 +132.30sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +132.30sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +132.40sINFOlifecycle_manager_navigationServer planner_server connected with bond. +132.40sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +132.41sINFObehavior_serverActivating +132.41sINFObehavior_serverActivating spin +132.41sINFObehavior_serverActivating backup +132.41sINFObehavior_serverActivating drive_on_heading +132.41sINFObehavior_serverActivating assisted_teleop +132.41sINFObehavior_serverActivating wait +132.41sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +132.51sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +132.51sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +132.51sINFObt_navigatorActivating +132.57sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +132.67sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +132.67sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +132.67sINFOwaypoint_followerActivating +132.67sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +132.79sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +132.79sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +132.79sINFOvelocity_smootherActivating +132.79sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +132.89sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +132.89sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +132.89sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +133.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571614 ms (missed cycles : 3). +133.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571614 ms (missed cycles : 3).[0m ×2 +134.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). +134.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 +135.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). +135.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 +136.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +136.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +136.09sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +136.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 +136.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). +136.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 +136.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 +137.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 +137.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). +137.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 +137.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +138.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +138.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 +138.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +138.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +138.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +138.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). +138.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 333 info |
+ 0.00sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.10sINFOwaypoint_followerActivating + 0.10sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.22sINFOvelocity_smootherActivating + 0.22sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.32sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.32sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.32sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571614 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571614 ms (missed cycles : 3).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.47sINFOobjective_server_nodecaller: ×10 + 3.47sINFOobjective_server_nodetype: 0 ×10 + 3.47sINFOobjective_server_nodename: "" ×10 + 3.47sINFOobjective_server_nodeinstance_id: "" ×10 + 3.47sINFOobjective_server_node ×10 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.52sINFOmove_groupClearing octomap...[0m ×4 + 3.52sINFOmove_groupOctomap cleared.[0m ×4 + 3.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 7.45sINFOjoint_trajectory_controllerReceived new action goal + 7.45sINFOjoint_trajectory_controllerAccepted new action goal + 7.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.45sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 324 info |
+ 0.00sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.10sINFOwaypoint_followerActivating + 0.10sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.22sINFOvelocity_smootherActivating + 0.22sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.32sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.32sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.32sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571614 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571614 ms (missed cycles : 3).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.47sINFOobjective_server_nodecaller: ×10 + 3.47sINFOobjective_server_nodetype: 0 ×10 + 3.47sINFOobjective_server_nodename: "" ×10 + 3.47sINFOobjective_server_nodeinstance_id: "" ×10 + 3.47sINFOobjective_server_node ×10 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.52sINFOmove_groupClearing octomap...[0m ×4 + 3.52sINFOmove_groupOctomap cleared.[0m ×4 + 3.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325712 ms (missed cycles : 2).[0m ×2 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 1.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.94sINFOobjective_server_nodecaller: ×10 + 1.94sINFOobjective_server_nodetype: 0 ×10 + 1.94sINFOobjective_server_nodename: "" ×10 + 1.94sINFOobjective_server_nodeinstance_id: "" ×10 + 1.94sINFOobjective_server_node ×10 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.98sINFOmove_groupClearing octomap...[0m ×4 + 1.98sINFOmove_groupOctomap cleared.[0m ×4 + 1.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927440 ms (missed cycles : 5).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.84sINFOobjective_server_nodeinstance_id: "" ×10 + 0.84sINFOobjective_server_node ×10 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662987.98146462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662987.99164271 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183357 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662988.57598019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662988.58609581 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662989.15703297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662989.30769992 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725120 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662989.91669917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662989.96683240 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662990.54830694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198476 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269068 ms (missed cycles : 2).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376751 ms (missed cycles : 3).[0m ×2 | ||||