68
Total objective tests
17
Objectives passed
0
Objectives failed
51
Objectives skipped
23.4s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 28.9s | 10 errors · 91 warnings · 4951 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/2026-09-16-18-03-46-360843-d982975b947b-9866 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.06sINFOlaunch.usernav2 params (ROS_DISTRO=jazzy): /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/params/nav2_params_jazzy.yaml ×2 + 10.67sINFOstatic_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' + 10.68sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' + 10.68sINFOstatic_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' + 10.74sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.76sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.76sINFOcontroller_managerupdate rate is 600 Hz + 10.76sINFOcontroller_managerOverruns handling is : enabled + 10.76sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.76sWARNcontroller_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. + 10.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707901 ms (missed cycles : 2). + 10.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 10.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 10.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.85sINFOmap_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. + 10.85sINFOmap_serverCreating + 10.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 10.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 10.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.93sINFOcontroller_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. + 10.94sINFOros2_control_node-8process started with pid [9923] ×2 + 10.96sINFOmove_group-20process started with pid [10012] ×2 + 10.96sINFOparameter_manager_node-21process started with pid [10013] ×2 + 10.96sINFOwaypoint_manager_node-22process started with pid [10021] ×2 + 10.96sINFOmove_joint_resampler_node-23process started with pid [10033] ×2 + 10.96sINFOmove_end_effector_resampler_node-24process started with pid [10075] ×2 + 10.96sINFOobjective_server_node_main-25process started with pid [10076] ×2 + 10.96sINFOcomponent_container_mt-26process started with pid [10077] ×2 + 10.96sINFOcomponent_container_mt-27process started with pid [10078] ×2 + 10.96sINFOexecute_objective_bridge-28process started with pid [10079] ×2 + 10.96sINFOui_teleop_bridge-29process started with pid [10080] ×2 + 10.96sINFOweb_bridge-30process started with pid [10081] ×2 + 10.96sINFOtf2_web_republisher_node-31process started with pid [10082] ×2 + 10.96sINFOweb_video_server-32process started with pid [10083] ×2 + 10.97sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 10.97sINFOcomponent_container_isolated-1process started with pid [9916] ×2 + 10.97sINFOstatic_transform_publisher-2process started with pid [9917] ×2 + 10.97sINFOstatic_transform_publisher-3process started with pid [9918] ×2 + 10.97sINFOstatic_transform_publisher-4process started with pid [9919] ×2 + 10.97sINFOodom_qos_relay.py-5process started with pid [9920] ×2 + 10.97sINFOscan_to_scan_filter_chain-6process started with pid [9921] ×2 + 10.97sINFOscan_to_scan_filter_chain-7process started with pid [9922] ×2 + 10.97sINFOros2-9process started with pid [10001] ×2 + 10.97sINFOros2-10process started with pid [10002] ×2 + 10.97sINFOros2-11process started with pid [10003] ×2 + 10.97sINFOros2-12process started with pid [10004] ×2 + 10.97sINFOros2-13process started with pid [10005] ×2 + 10.97sINFOros2-14process started with pid [10006] ×2 + 10.97sINFOros2-15process started with pid [10007] ×2 + 10.97sINFOros2-16process started with pid [10008] ×2 + 10.97sINFOros2-17process started with pid [10009] ×2 + 10.97sINFOros2-18process started with pid [10010] ×2 + 10.97sINFOros2-19process started with pid [10011] ×2 + 10.98sINFOcontroller_serverCreating controller server + 11.01sINFOlocal_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. + 11.03sINFOlocal_costmap.local_costmapCreating Costmap + 11.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 11.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 11.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.07sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 11.07sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 11.07sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 11.07sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 11.07sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 11.09sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 11.10sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 11.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 11.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 11.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 11.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 11.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 11.10sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707901 ms (missed cycles : 2).[0m ×2 + 11.10sINFOlifecycle_manager_localizationCreating + 11.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 11.12sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.14sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 11.14sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 11.14sINFOmap_serverConfiguring + 11.14sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 11.14sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 11.14sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 11.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 11.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 11.16sINFOsmoother_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. + 11.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.18sINFOsmoother_serverCreating smoother server + 11.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 11.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 11.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.24sINFOplanner_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. + 11.25sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 11.25sINFOmap_serverActivating + 11.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 11.27sINFOplanner_serverCreating + 11.27sINFOrobot_state_publisherRobot initialized + 11.27sINFOcontroller_managerReceived robot description from topic. + 11.27sINFOcomponent_container_mtRobot initialized[0m ×2 + 11.27sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 11.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 11.28sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 11.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 11.30sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 11.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 11.31sINFOglobal_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. + 11.31sINFOglobal_costmap.global_costmapCreating Costmap + 11.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 11.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 11.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.35sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 11.36sINFOlifecycle_manager_localizationServer map_server connected with bond. + 11.36sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 11.36sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 11.36sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.37sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.37sINFObehavior_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. + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 11.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 11.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.41sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.41sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 11.43sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 11.43sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 11.45sINFObt_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. + 11.48sINFObt_navigatorCreating + 11.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.53sINFOwaypoint_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. + 11.54sINFOwaypoint_followerCreating + 11.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.59sINFOvelocity_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. + 11.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 11.62sINFOlifecycle_manager_navigationCreating + 11.63sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 11.66sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 11.66sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 11.66sINFOcontroller_serverConfiguring controller interface + 11.66sINFOcontroller_servergetting progress checker plugins.. + 11.66sINFOcontroller_servergetting goal checker plugins.. + 11.66sINFOcontroller_serverController frequency set to 20.0000Hz + 11.66sINFOlocal_costmap.local_costmapConfiguring + 11.67sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 11.68sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.68sWARNlaser_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. + 11.68sWARNlaser_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. + 11.68sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.68sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.69sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 11.70sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 11.70sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.397491 seconds + 11.70sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.70sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.73sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 11.73sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 11.73sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 11.76sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 11.77sINFOcontroller_serverController Server has progress_checker progress checkers available. + 11.78sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 11.78sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 11.79sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084530 ms (missed cycles : 4). + 11.79sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.80sINFOmove_groupLoaded robot model in 0.397491 seconds[0m ×2 + 11.82sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.82sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084530 ms (missed cycles : 4).[0m ×2 + 11.85sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 11.87sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 11.87sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 11.89sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 11.89sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 11.90sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 11.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 11.90sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 11.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 11.92sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 11.92sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 11.93sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 11.94sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 11.94sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 11.94sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 11.94sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 11.94sINFOcontroller_serverOptimizer reset ×2 + 11.96sINFOcontroller_serverController Server has FollowPath controllers available. + 11.99sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 11.99sINFOsmoother_serverConfiguring smoother server + 12.00sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 12.01sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 12.02sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 12.02sINFOplanner_serverConfiguring + 12.02sINFOglobal_costmap.global_costmapConfiguring + 12.04sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 12.07sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 12.07sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 12.07sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 12.08sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 12.11sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 12.11sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 12.12sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 12.17sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 12.17sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 12.17sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 12.18sINFOplanner_serverPlanner Server has GridBased planners available. + 12.19sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.19sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 12.19sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.20sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 12.20sINFObehavior_serverConfiguring + 12.21sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 12.22sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 12.22sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 12.23sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 12.24sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 12.25sINFObehavior_serverConfiguring spin + 12.27sINFObehavior_serverConfiguring backup + 12.29sINFObehavior_serverConfiguring drive_on_heading + 12.29sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 12.30sINFOwaypoint_manager_nodeLoaded robot model in 0.414591 seconds[0m ×2 + 12.30sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 12.30sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.30sINFObehavior_serverConfiguring assisted_teleop + 12.32sINFObehavior_serverConfiguring wait + 12.33sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 12.33sINFObt_navigatorConfiguring + 12.34sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 12.35sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 12.55sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.55sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.63sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 12.72sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 12.72sINFOwaypoint_followerConfiguring + 12.75sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 12.75sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 12.75sINFOvelocity_smootherConfiguring velocity smoother + 12.77sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 12.77sINFOcontroller_serverActivating + 12.77sINFOlocal_costmap.local_costmapActivating + 12.77sINFOlocal_costmap.local_costmapChecking transform + 12.78sINFOlocal_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. ×16 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3).[0m ×2 + 13.71sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 13.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 13.71sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 13.71sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 13.72sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 13.72sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 13.76sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 13.76sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 13.76sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 13.76sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 13.76sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 13.76sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 13.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 13.76sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 13.76sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.76sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 13.77sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 13.77sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 13.77sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 13.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 13.77sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 13.77sINFOmove_groupStarting planning scene monitor[0m ×2 + 13.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 13.77sINFOmove_groupListening to '/planning_scene'[0m ×2 + 13.77sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 13.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 13.77sINFOmove_groupListening to 'collision_object'[0m ×2 + 13.77sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405929 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405929 ms (missed cycles : 3).[0m ×2 + 14.01sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 14.01sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 14.02sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 14.68sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 14.68sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 14.68sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 14.68sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 14.68sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 14.68sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 14.68sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 14.68sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 14.68sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 14.68sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 14.68sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 14.68sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 14.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 14.68sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 14.68sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.68sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 14.68sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 14.68sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 14.68sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 14.68sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 14.68sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 14.68sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 14.68sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 14.68sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 14.68sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 14.68sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 14.68sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 14.68sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 14.68sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 14.69sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 14.69sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 14.69sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 14.69sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 14.69sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 14.69sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 14.69sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 14.69sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 14.69sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 14.69sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 14.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 14.69sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 14.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 14.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 14.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 14.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 14.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 14.72sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.72sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 14.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 14.72sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 14.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 14.79sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 14.79sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.79sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 14.80sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 14.80sINFOforce_torque_sensor_broadcasterconfigure successful + 14.80sINFOros2_control_nodeconfigure successful[0m ×6 + 14.80sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 14.80sINFOcontroller_managerSuccessfully switched controllers! ×7 + 14.80sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 14.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 14.81sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 14.81sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 14.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 14.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 14.89sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 14.91sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.06sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889434 ms (missed cycles : 2). + 15.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889434 ms (missed cycles : 2).[0m ×2 + 15.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 15.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 15.09sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 15.10sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 15.10sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 15.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 15.10sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 15.13sINFOobjective_server_node[2026-09-16 18:04:04.826] [moveit_pro_license] [info] ×2 + 15.13sINFOobjective_server_node************************************************* ×4 + 15.13sINFOobjective_server_node* MoveIt Pro License ×2 + 15.13sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.15sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.15sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 15.15sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.15sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 15.15sINFOros2-9process has finished cleanly [pid 10001] ×2 + 15.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 15.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 15.22sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 15.23sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 15.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 15.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 15.23sINFOplatform_velocity_controller_nav2configure successful + 15.31sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.31sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 15.31sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.34sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 15.34sINFOcomponent_container_mtLoaded robot model in 0.405296 seconds[0m ×2 + 15.34sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 15.34sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.53sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.53sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 15.53sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.57sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 15.57sINFOobjective_server_nodeLoaded robot model in 0.370518 seconds[0m ×2 + 15.57sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 15.57sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 15.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 15.60sINFOros2-14process has finished cleanly [pid 10006] ×2 + 15.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 15.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 15.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 15.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 15.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 15.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 15.82sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 15.82sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 15.82sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 15.84sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 15.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 15.85sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 15.93sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.98sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 15.98sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.00sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.00sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.00sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.00sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.00sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.00sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.00sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.11sINFOros2_control_node[2026-09-16 18:04:05.812] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.12sINFOros2_control_node[2026-09-16 18:04:05.816] [info] Controller state will be published at 10 Hz. ×2 + 16.12sINFOros2_control_node[2026-09-16 18:04:05.817] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.14sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.14sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.14sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 16.15sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 16.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 16.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175160 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175160 ms (missed cycles : 2).[0m ×2 + 16.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 16.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 16.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 16.45sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 16.45sINFOcontroller_managerLoading controller 'vacuum_gripper' + 16.45sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 16.45sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 16.45sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 16.45sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 16.46sINFOros2-16process has finished cleanly [pid 10008] ×2 + 16.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 16.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 16.52sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 16.52sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 16.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 16.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 16.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 16.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 16.53sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 16.53sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 16.54sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 16.54sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 16.85sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 16.85sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 16.87sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 16.87sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 16.87sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 16.87sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 16.87sINFOros2-13process has finished cleanly [pid 10005] ×2 + 16.87sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 16.87sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 16.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 16.93sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 16.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 16.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 16.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 16.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 16.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 16.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 17.00sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 17.00sINFOmove_groupMoveGroup debug mode is ON + 17.00sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 17.00sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.07sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 17.28sINFOros2-10process has finished cleanly [pid 10002] ×2 + 17.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 17.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 17.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716224 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716224 ms (missed cycles : 2).[0m ×2 + 17.36sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 17.36sINFOmove_group ×8 + 17.36sINFOmove_group******************************************************** ×4 + 17.36sINFOmove_group* MoveGroup using: ×2 + 17.36sINFOmove_group* - apply_planning_scene_service ×2 + 17.36sINFOmove_group* - clear_octomap_service ×2 + 17.36sINFOmove_group* - ExecuteTaskSolution ×2 + 17.36sINFOmove_group* - get_group_urdf ×2 + 17.36sINFOmove_group* - load_geometry_from_file ×2 + 17.36sINFOmove_group* - get_planning_scene_service ×2 + 17.36sINFOmove_group* - kinematics_service ×2 + 17.36sINFOmove_group* - save_geometry_to_file ×2 + 17.36sINFOmove_group* - GetPlanningGroups ×2 + 17.36sINFOmove_group* - SetActiveControllerService ×2 + 17.36sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.36sINFOmove_group[0m ×2 + 17.37sINFOmove_group[92mYou can start planning now![0m ×2 + 17.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 17.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 17.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 17.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 17.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 17.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 17.79sINFOros2_control_node[2026-09-16 18:04:07.491] [info] Controller state will be published at 20 Hz. ×2 + 17.79sINFOros2_control_node[2026-09-16 18:04:07.492] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.97sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 18.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 18.13sINFOros2-18process has finished cleanly [pid 10010] ×2 + 18.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 18.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 18.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 18.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 18.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 18.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 18.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 18.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 18.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 18.28sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 18.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 18.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 18.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 18.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 18.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 18.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 18.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 18.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 18.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 18.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 18.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685826 ms (missed cycles : 2). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685826 ms (missed cycles : 2).[0m ×2 + 18.64sINFOros2-15process has finished cleanly [pid 10007] ×2 + 18.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.67sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.67sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.67sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 18.67sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 18.72sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.72sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.72sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.72sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 19.10sINFOros2_control_node[2026-09-16 18:04:08.799] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.10sINFOros2_control_node[2026-09-16 18:04:08.800] [info] Controller state will be published at 10 Hz. ×2 + 19.10sINFOros2_control_node[2026-09-16 18:04:08.802] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703348 ms (missed cycles : 2). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703348 ms (missed cycles : 2).[0m ×2 + 19.45sINFOros2-17process has finished cleanly [pid 10009] ×2 + 19.46sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.46sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.46sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 19.46sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.47sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.47sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 19.55sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 19.55sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 19.55sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 19.88sINFOros2_control_node[2026-09-16 18:04:09.575] [info] Controller state will be published at 20 Hz. ×2 + 19.88sINFOros2_control_node[2026-09-16 18:04:09.576] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.23sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.23sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.23sINFOros2-19process has finished cleanly [pid 10011] ×2 + 20.23sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 20.23sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.23sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.24sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 20.30sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.30sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.30sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.30sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.31sINFOplatform_velocity_controllerconfigure successful + 20.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.33sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.33sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201100 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201100 ms (missed cycles : 2).[0m ×2 + 20.63sINFOros2-12process has finished cleanly [pid 10004] ×2 + 20.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 20.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 20.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 20.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 20.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri + 20.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9d3sd5t5 --params-file /tmp/launch_params_4j8sxi1n --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_8t14x07h --params-file /tmp/launch_params_yrvl37ri [0m ×2 + 20.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 20.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 20.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 20.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 20.74sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 20.74sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 20.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 20.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 20.74sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 20.74sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 20.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 20.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 20.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 20.77sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 20.78sINFOlocal_costmap.local_costmapstart + 20.88sWARNcontroller_serverParameter controller_server.verbose not found + 20.88sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 20.88sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 20.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 20.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 20.98sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 20.98sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 20.98sINFOsmoother_serverActivating + 20.98sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 21.08sINFOros2-11process has finished cleanly [pid 10003] ×2 + 21.09sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 21.09sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 21.09sINFOplanner_serverActivating + 21.09sINFOglobal_costmap.global_costmapActivating + 21.09sINFOglobal_costmap.global_costmapChecking transform + 21.09sINFOglobal_costmap.global_costmapstart + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835886 ms (missed cycles : 7). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835886 ms (missed cycles : 7).[0m ×2 + 22.15sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 22.15sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 22.25sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 22.25sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 22.26sINFObehavior_serverActivating + 22.26sINFObehavior_serverActivating spin + 22.26sINFObehavior_serverActivating backup + 22.26sINFObehavior_serverActivating drive_on_heading + 22.26sINFObehavior_serverActivating assisted_teleop + 22.26sINFObehavior_serverActivating wait + 22.26sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 22.37sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 22.37sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 22.37sINFObt_navigatorActivating + 22.42sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 22.53sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 22.53sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 22.53sINFOwaypoint_followerActivating + 22.53sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 22.63sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 22.63sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 22.63sINFOvelocity_smootherActivating + 22.63sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 22.73sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 22.73sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 22.73sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 23.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 24.73sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 26.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 26.06sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 26.06sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 26.06sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 26.06sINFOobjective_server_nodeparameter_overrides: [] ×8 + 26.06sINFOobjective_server_node ×8 + 26.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 26.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 26.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 26.10sINFOmove_groupClearing octomap...[0m ×2 + 26.10sINFOmove_groupOctomap cleared.[0m ×2 + 26.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 26.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 26.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 26.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 26.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 27.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 27.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 27.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 27.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 27.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 27.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 27.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 27.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 27.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 27.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 27.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 27.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 27.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 27.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 28.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 28.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 28.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 28.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 28.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 28.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 28.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 28.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 75.0s | 3 errors · 233 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118484 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118484 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106624 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106624 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509890 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509890 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.726280 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.726280 ms (missed cycles : 5).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGot request to cancel goal + 3.55sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1789582067.24829102 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 3.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 3.71sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.69) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
+ 4.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.11sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 4.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.11sINFOobjective_server_node ×4 + 4.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789582067.81089163 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918726 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918726 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118292 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118292 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753011 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753011 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal ×4 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×8 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×8 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457080 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457080 ms (missed cycles : 3).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.982248 ms (missed cycles : 6). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.982248 ms (missed cycles : 6).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906893 ms (missed cycles : 4). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906893 ms (missed cycles : 4).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966021 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966021 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172535 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172535 ms (missed cycles : 3).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946443 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946443 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835640 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835640 ms (missed cycles : 2).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201864 ms (missed cycles : 4). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201864 ms (missed cycles : 4).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304684 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304684 ms (missed cycles : 2).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299175 ms (missed cycles : 4). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299175 ms (missed cycles : 4).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.641147 ms (missed cycles : 6). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.641147 ms (missed cycles : 6).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183796 ms (missed cycles : 4). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183796 ms (missed cycles : 4).[0m ×2 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369416 ms (missed cycles : 3). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369416 ms (missed cycles : 3).[0m ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501570 ms (missed cycles : 4). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501570 ms (missed cycles : 4).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432167 ms (missed cycles : 6). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432167 ms (missed cycles : 6).[0m ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195792 ms (missed cycles : 5). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195792 ms (missed cycles : 5).[0m ×2 + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875932 ms (missed cycles : 5). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875932 ms (missed cycles : 5).[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576113 ms (missed cycles : 6). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576113 ms (missed cycles : 6).[0m ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988236 ms (missed cycles : 4). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988236 ms (missed cycles : 4).[0m ×2 + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460519 ms (missed cycles : 6). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460519 ms (missed cycles : 6).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032808 ms (missed cycles : 4). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032808 ms (missed cycles : 4).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308746 ms (missed cycles : 7). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308746 ms (missed cycles : 7).[0m ×2 + 30.77sINFOros2_control_nodeMuJoCo sim: 3.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317501 ms (missed cycles : 3). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317501 ms (missed cycles : 3).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993280 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993280 ms (missed cycles : 3).[0m ×2 + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948286 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948286 ms (missed cycles : 2).[0m ×2 + 33.76sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.76sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.22sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098031 ms (missed cycles : 4). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098031 ms (missed cycles : 4).[0m ×2 + 35.05sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880607 ms (missed cycles : 2). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880607 ms (missed cycles : 2).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757136 ms (missed cycles : 2). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757136 ms (missed cycles : 2).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250133 ms (missed cycles : 2). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250133 ms (missed cycles : 2).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471319 ms (missed cycles : 4). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471319 ms (missed cycles : 4).[0m ×2 + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135784 ms (missed cycles : 3). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135784 ms (missed cycles : 3).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227435 ms (missed cycles : 5). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227435 ms (missed cycles : 5).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722443 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722443 ms (missed cycles : 2).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065378 ms (missed cycles : 2). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065378 ms (missed cycles : 2).[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740334 ms (missed cycles : 3). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740334 ms (missed cycles : 3).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949098 ms (missed cycles : 2). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949098 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326762 ms (missed cycles : 3). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326762 ms (missed cycles : 3).[0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.634636 ms (missed cycles : 6). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.634636 ms (missed cycles : 6).[0m ×2 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806523 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806523 ms (missed cycles : 2).[0m ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880071 ms (missed cycles : 2). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880071 ms (missed cycles : 2).[0m ×2 + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347467 ms (missed cycles : 3). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347467 ms (missed cycles : 3).[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683027 ms (missed cycles : 2). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683027 ms (missed cycles : 2).[0m ×2 + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563795 ms (missed cycles : 3). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563795 ms (missed cycles : 3).[0m ×2 + 52.28sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 53.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808933 ms (missed cycles : 2). + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808933 ms (missed cycles : 2).[0m ×2 + 54.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506288 ms (missed cycles : 3). + 54.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506288 ms (missed cycles : 3).[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332692 ms (missed cycles : 3). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332692 ms (missed cycles : 3).[0m ×2 + 56.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989217 ms (missed cycles : 2). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989217 ms (missed cycles : 2).[0m ×2 + 57.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529743 ms (missed cycles : 2). + 57.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529743 ms (missed cycles : 2).[0m ×2 + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933216 ms (missed cycles : 5). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933216 ms (missed cycles : 5).[0m ×2 + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385939 ms (missed cycles : 3). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385939 ms (missed cycles : 3).[0m ×2 + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088090 ms (missed cycles : 2). + 60.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088090 ms (missed cycles : 2).[0m ×2 + 61.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878397 ms (missed cycles : 2). + 61.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878397 ms (missed cycles : 2).[0m ×2 + 62.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286653 ms (missed cycles : 4). + 62.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286653 ms (missed cycles : 4).[0m ×2 + 63.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208658 ms (missed cycles : 2). + 63.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208658 ms (missed cycles : 2).[0m ×2 + 64.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046715 ms (missed cycles : 2). + 64.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046715 ms (missed cycles : 2).[0m ×2 + 65.29sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 65.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595108 ms (missed cycles : 2). + 65.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595108 ms (missed cycles : 2).[0m ×2 + 66.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144373 ms (missed cycles : 4). + 66.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144373 ms (missed cycles : 4).[0m ×2 + 67.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566949 ms (missed cycles : 2). + 67.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566949 ms (missed cycles : 2).[0m ×2 + 68.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841325 ms (missed cycles : 5). + 68.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841325 ms (missed cycles : 5).[0m ×2 + 70.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719496 ms (missed cycles : 3). + 70.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719496 ms (missed cycles : 3).[0m ×2 + 71.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474690 ms (missed cycles : 2). + 71.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474690 ms (missed cycles : 2).[0m ×2 + 72.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972605 ms (missed cycles : 3). + 72.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972605 ms (missed cycles : 3).[0m ×2 + 73.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677745 ms (missed cycles : 2). + 73.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677745 ms (missed cycles : 2).[0m ×2 + 74.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.153323 ms (missed cycles : 7). + 74.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.153323 ms (missed cycles : 7).[0m ×2 + 75.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 75.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 76.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 76.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 77.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 77.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 78.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 78.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 78.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 79.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 79.15sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 79.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 79.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 79.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 79.70sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 80.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 80.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.7s | 185 warnings · 134 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789581901.31502509 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_node ×6 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789581901.86625648 seconds. ×3 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.5641e-05 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.78sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.78sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.78sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.78sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380075 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380075 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789581905.19418216 seconds ×3 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
+ 4.44sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 4.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789581905.76839972 seconds. ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.437559 ms (missed cycles : 9). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.437559 ms (missed cycles : 9).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.171478 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.171478 ms (missed cycles : 6).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041350 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041350 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474415 ms (missed cycles : 6). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474415 ms (missed cycles : 6).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387951 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387951 ms (missed cycles : 3).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.323675 ms (missed cycles : 6). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.323675 ms (missed cycles : 6).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.897147 ms (missed cycles : 6). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.897147 ms (missed cycles : 6).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469823 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469823 ms (missed cycles : 3).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467188 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467188 ms (missed cycles : 2).[0m ×2 + 13.14sINFOros2_control_nodeMuJoCo sim: 2.34% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196992 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196992 ms (missed cycles : 2).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716314 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716314 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.156605 ms (missed cycles : 6). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.156605 ms (missed cycles : 6).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881160 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881160 ms (missed cycles : 2).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662023 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662023 ms (missed cycles : 2).[0m ×2 + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597550 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597550 ms (missed cycles : 2).[0m ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118668 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118668 ms (missed cycles : 3).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.889834 ms (missed cycles : 5). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.889834 ms (missed cycles : 5).[0m ×2 + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676173 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676173 ms (missed cycles : 2).[0m ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564756 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564756 ms (missed cycles : 2).[0m ×2 + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085466 ms (missed cycles : 3). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085466 ms (missed cycles : 3).[0m ×2 + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063276 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063276 ms (missed cycles : 2).[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225902 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225902 ms (missed cycles : 2).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268233 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268233 ms (missed cycles : 2).[0m ×2 + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969846 ms (missed cycles : 2). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969846 ms (missed cycles : 2).[0m ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769398 ms (missed cycles : 2). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769398 ms (missed cycles : 2).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394348 ms (missed cycles : 3). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394348 ms (missed cycles : 3).[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.581290 ms (missed cycles : 6). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.581290 ms (missed cycles : 6).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990074 ms (missed cycles : 3). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990074 ms (missed cycles : 3).[0m ×2 + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966133 ms (missed cycles : 2). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966133 ms (missed cycles : 2).[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604325 ms (missed cycles : 3). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604325 ms (missed cycles : 3).[0m ×2 + 35.94sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837882 ms (missed cycles : 5). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837882 ms (missed cycles : 5).[0m ×2 + 37.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488283 ms (missed cycles : 3). + 37.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488283 ms (missed cycles : 3).[0m ×2 + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151211 ms (missed cycles : 2). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151211 ms (missed cycles : 2).[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084015 ms (missed cycles : 6). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084015 ms (missed cycles : 6).[0m ×2 + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264857 ms (missed cycles : 3). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264857 ms (missed cycles : 3).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176151 ms (missed cycles : 4). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176151 ms (missed cycles : 4).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037839 ms (missed cycles : 4). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037839 ms (missed cycles : 4).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220028 ms (missed cycles : 3). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220028 ms (missed cycles : 3).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972063 ms (missed cycles : 2). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972063 ms (missed cycles : 2).[0m ×2 + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145777 ms (missed cycles : 4). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145777 ms (missed cycles : 4).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851750 ms (missed cycles : 3). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851750 ms (missed cycles : 3).[0m ×2 + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259985 ms (missed cycles : 4). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259985 ms (missed cycles : 4).[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852737 ms (missed cycles : 2). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852737 ms (missed cycles : 2).[0m ×2 + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731998 ms (missed cycles : 2). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731998 ms (missed cycles : 2).[0m ×2 + 51.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848256 ms (missed cycles : 2). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848256 ms (missed cycles : 2).[0m ×2 + 52.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796085 ms (missed cycles : 2). + 52.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796085 ms (missed cycles : 2).[0m ×2 + 53.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.501206 ms (missed cycles : 6). + 53.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.501206 ms (missed cycles : 6).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731924 ms (missed cycles : 2). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731924 ms (missed cycles : 2).[0m ×2 + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486172 ms (missed cycles : 2). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486172 ms (missed cycles : 2).[0m ×2 + 56.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578293 ms (missed cycles : 2). + 56.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578293 ms (missed cycles : 2).[0m ×2 + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6).[0m ×2 + 58.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2).[0m ×2 + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2).[0m ×2 + 60.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2). + 60.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2).[0m ×2 + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4). + 61.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4).[0m ×2 + 61.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789581962.92082381 seconds ×3 + 61.69sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.69sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 62.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 62.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 62.20sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789581963.48721647 seconds. ×3 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2).[0m ×2 + 62.62sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 62.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 63.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 56.2s | 183 warnings · 89 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.53sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789582000.25361109 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 4.10sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.10sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.10sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.10sINFOobjective_server_node ×4 + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789582000.81415868 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409275 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409275 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689249 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689249 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520623 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520623 ms (missed cycles : 3).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363438 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363438 ms (missed cycles : 3).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886056 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886056 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854132 ms (missed cycles : 5). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854132 ms (missed cycles : 5).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289023 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289023 ms (missed cycles : 2).[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700244 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700244 ms (missed cycles : 2).[0m ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699481 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699481 ms (missed cycles : 3).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431049 ms (missed cycles : 3). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431049 ms (missed cycles : 3).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822852 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822852 ms (missed cycles : 2).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.053696 ms (missed cycles : 7). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.053696 ms (missed cycles : 7).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112728 ms (missed cycles : 3). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112728 ms (missed cycles : 3).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372274 ms (missed cycles : 3). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372274 ms (missed cycles : 3).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821886 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821886 ms (missed cycles : 2).[0m ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556924 ms (missed cycles : 3). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556924 ms (missed cycles : 3).[0m ×2 + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263373 ms (missed cycles : 3). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263373 ms (missed cycles : 3).[0m ×2 + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789316 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789316 ms (missed cycles : 2).[0m ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780347 ms (missed cycles : 3). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780347 ms (missed cycles : 3).[0m ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311184 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311184 ms (missed cycles : 3).[0m ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831763 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831763 ms (missed cycles : 2).[0m ×2 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694489 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694489 ms (missed cycles : 2).[0m ×2 + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411415 ms (missed cycles : 3). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411415 ms (missed cycles : 3).[0m ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057285 ms (missed cycles : 3). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057285 ms (missed cycles : 3).[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736928 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736928 ms (missed cycles : 2).[0m ×2 + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313019 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313019 ms (missed cycles : 2).[0m ×2 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401817 ms (missed cycles : 3). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401817 ms (missed cycles : 3).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795931 ms (missed cycles : 2). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795931 ms (missed cycles : 2).[0m ×2 + 35.61sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.34sINFOobjective_server_nodePlanning for 59 path waypoints. ×3 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.448954 ms (missed cycles : 7). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.448954 ms (missed cycles : 7).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516909 ms (missed cycles : 3). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516909 ms (missed cycles : 3).[0m ×2 + 37.75sINFOros2_control_nodeMuJoCo sim: 3.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446609 ms (missed cycles : 3). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446609 ms (missed cycles : 3).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746198 ms (missed cycles : 7). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.746198 ms (missed cycles : 7).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938306 ms (missed cycles : 3). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938306 ms (missed cycles : 3).[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781879 ms (missed cycles : 2). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781879 ms (missed cycles : 2).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620679 ms (missed cycles : 3). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620679 ms (missed cycles : 3).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262906 ms (missed cycles : 3). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262906 ms (missed cycles : 3).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342612 ms (missed cycles : 3). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342612 ms (missed cycles : 3).[0m ×2 + 45.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957059 ms (missed cycles : 3). + 45.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957059 ms (missed cycles : 3).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231338 ms (missed cycles : 2). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231338 ms (missed cycles : 2).[0m ×2 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965259 ms (missed cycles : 3). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965259 ms (missed cycles : 3).[0m ×2 + 49.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497227 ms (missed cycles : 3). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497227 ms (missed cycles : 3).[0m ×2 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208924 ms (missed cycles : 2). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208924 ms (missed cycles : 2).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054323 ms (missed cycles : 3). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054323 ms (missed cycles : 3).[0m ×2 + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945403 ms (missed cycles : 6). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945403 ms (missed cycles : 6).[0m ×2 + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569443 ms (missed cycles : 2). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569443 ms (missed cycles : 2).[0m ×2 + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.560842 ms (missed cycles : 6). + 54.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.560842 ms (missed cycles : 6).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623242 ms (missed cycles : 6). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623242 ms (missed cycles : 6).[0m ×2 + 56.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399272 ms (missed cycles : 2). + 56.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399272 ms (missed cycles : 2).[0m ×2 + 57.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464230 ms (missed cycles : 7). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464230 ms (missed cycles : 7).[0m ×2 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654664 ms (missed cycles : 3). + 58.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654664 ms (missed cycles : 3).[0m ×2 + 59.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254686 ms (missed cycles : 3). + 59.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254686 ms (missed cycles : 3).[0m ×2 + 59.80sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789582056.48429513 seconds ×3 + 59.90sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 10.59) is out of map bounds (-2.60, -2.45) to (2.38, 2.52). The costmap cannot raytrace for it. + 59.90sWARNlocal_costmap.local_costmapSensor origin at (-2.51, 11.11) is out of map bounds (-2.60, -2.45) to (2.38, 2.52). The costmap cannot raytrace for it. + 60.00sWARNlocal_costmap.local_costmapSensor origin at (-0.23, 3.10) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 60.00sWARNlocal_costmap.local_costmapSensor origin at (-1.11, 3.25) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 60.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
+ 60.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 60.38sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789582057.05817914 seconds. ×3 + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176809 ms (missed cycles : 3). + 60.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176809 ms (missed cycles : 3).[0m ×2 + 60.88sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 61.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003032 ms (missed cycles : 2). + 61.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003032 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.0s | 181 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_node ×4 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048396 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048396 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.42sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.42sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054516 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054516 ms (missed cycles : 4).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945969 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945969 ms (missed cycles : 3).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127150 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127150 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913130 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913130 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210409 ms (missed cycles : 4). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210409 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938070 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938070 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.868034 ms (missed cycles : 6). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.868034 ms (missed cycles : 6).[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723802 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723802 ms (missed cycles : 3).[0m ×2 + 15.48sINFOros2_control_nodeMuJoCo sim: 4.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.367199 ms (missed cycles : 6). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.367199 ms (missed cycles : 6).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.569972 ms (missed cycles : 6). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.569972 ms (missed cycles : 6).[0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803366 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803366 ms (missed cycles : 2).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485499 ms (missed cycles : 3). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485499 ms (missed cycles : 3).[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772061 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772061 ms (missed cycles : 2).[0m ×2 + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903477 ms (missed cycles : 2). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903477 ms (missed cycles : 2).[0m ×2 + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835182 ms (missed cycles : 3). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835182 ms (missed cycles : 3).[0m ×2 + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637698 ms (missed cycles : 6). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637698 ms (missed cycles : 6).[0m ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.220278 ms (missed cycles : 8). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.220278 ms (missed cycles : 8).[0m ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734080 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734080 ms (missed cycles : 2).[0m ×2 + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279193 ms (missed cycles : 6). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279193 ms (missed cycles : 6).[0m ×2 + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067922 ms (missed cycles : 5). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067922 ms (missed cycles : 5).[0m ×2 + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808355 ms (missed cycles : 2). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808355 ms (missed cycles : 2).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856492 ms (missed cycles : 5). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856492 ms (missed cycles : 5).[0m ×2 + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982560 ms (missed cycles : 2). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982560 ms (missed cycles : 2).[0m ×2 + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895187 ms (missed cycles : 5). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895187 ms (missed cycles : 5).[0m ×2 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647928 ms (missed cycles : 4). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647928 ms (missed cycles : 4).[0m ×2 + 33.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729311 ms (missed cycles : 2). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729311 ms (missed cycles : 2).[0m ×2 + 34.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504885 ms (missed cycles : 2). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504885 ms (missed cycles : 2).[0m ×2 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080895 ms (missed cycles : 6). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080895 ms (missed cycles : 6).[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.186861 ms (missed cycles : 7). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.186861 ms (missed cycles : 7).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720881 ms (missed cycles : 2). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720881 ms (missed cycles : 2).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213709 ms (missed cycles : 2). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213709 ms (missed cycles : 2).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962475 ms (missed cycles : 2). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962475 ms (missed cycles : 2).[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226783 ms (missed cycles : 4). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226783 ms (missed cycles : 4).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844319 ms (missed cycles : 3). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844319 ms (missed cycles : 3).[0m ×2 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740407 ms (missed cycles : 3). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740407 ms (missed cycles : 3).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725709 ms (missed cycles : 3). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725709 ms (missed cycles : 3).[0m ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480936 ms (missed cycles : 6). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.480936 ms (missed cycles : 6).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065109 ms (missed cycles : 3). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065109 ms (missed cycles : 3).[0m ×2 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039453 ms (missed cycles : 2). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039453 ms (missed cycles : 2).[0m ×2 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382374 ms (missed cycles : 3). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382374 ms (missed cycles : 3).[0m ×2 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681531 ms (missed cycles : 4). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681531 ms (missed cycles : 4).[0m ×2 + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813094 ms (missed cycles : 2). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813094 ms (missed cycles : 2).[0m ×2 + 51.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057621 ms (missed cycles : 3). + 51.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057621 ms (missed cycles : 3).[0m ×2 + 52.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908149 ms (missed cycles : 5). + 52.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908149 ms (missed cycles : 5).[0m ×2 + 53.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707727 ms (missed cycles : 3). + 53.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707727 ms (missed cycles : 3).[0m ×2 + 54.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326830 ms (missed cycles : 4). + 54.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326830 ms (missed cycles : 4).[0m ×2 + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784793 ms (missed cycles : 2). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784793 ms (missed cycles : 2).[0m ×2 + 56.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815396 ms (missed cycles : 2). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815396 ms (missed cycles : 2).[0m ×2 + 57.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100428 ms (missed cycles : 2). + 57.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100428 ms (missed cycles : 2).[0m ×2 + 59.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051133 ms (missed cycles : 5). + 59.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051133 ms (missed cycles : 5).[0m ×2 + 59.34sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789582198.30636501 seconds ×3 + 59.41sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.41sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.51sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 6.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.51sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 6.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
+ 59.87sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 59.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789582198.86530256 seconds. ×3 + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105898 ms (missed cycles : 2). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105898 ms (missed cycles : 2).[0m ×2 + 60.27sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 60.30sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546800 ms (missed cycles : 3). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546800 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 147 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.30sINFOobjective_server_node ×12 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.005956 ms (missed cycles : 6). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.005956 ms (missed cycles : 6).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999165 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999165 ms (missed cycles : 3).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948183 ms (missed cycles : 5). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948183 ms (missed cycles : 5).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662101 ms (missed cycles : 6). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662101 ms (missed cycles : 6).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191248 ms (missed cycles : 6). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191248 ms (missed cycles : 6).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.272996 ms (missed cycles : 7). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.272996 ms (missed cycles : 7).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861206 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861206 ms (missed cycles : 3).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.902718 ms (missed cycles : 8). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.902718 ms (missed cycles : 8).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372213 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372213 ms (missed cycles : 3).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603439 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603439 ms (missed cycles : 2).[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112167 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112167 ms (missed cycles : 2).[0m ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332115 ms (missed cycles : 5). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332115 ms (missed cycles : 5).[0m ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904667 ms (missed cycles : 5). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904667 ms (missed cycles : 5).[0m ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523358 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523358 ms (missed cycles : 2).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353511 ms (missed cycles : 4). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353511 ms (missed cycles : 4).[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332019 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332019 ms (missed cycles : 2).[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426959 ms (missed cycles : 3). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426959 ms (missed cycles : 3).[0m ×2 + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426936 ms (missed cycles : 3). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426936 ms (missed cycles : 3).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044946 ms (missed cycles : 4). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044946 ms (missed cycles : 4).[0m ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866097 ms (missed cycles : 3). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866097 ms (missed cycles : 3).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345540 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345540 ms (missed cycles : 3).[0m ×2 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950703 ms (missed cycles : 5). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950703 ms (missed cycles : 5).[0m ×2 + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927443 ms (missed cycles : 5). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927443 ms (missed cycles : 5).[0m ×2 + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674873 ms (missed cycles : 2). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674873 ms (missed cycles : 2).[0m ×2 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366078 ms (missed cycles : 3). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366078 ms (missed cycles : 3).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105234 ms (missed cycles : 3). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105234 ms (missed cycles : 3).[0m ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123710 ms (missed cycles : 4). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123710 ms (missed cycles : 4).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147450 ms (missed cycles : 3). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147450 ms (missed cycles : 3).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581887 ms (missed cycles : 3). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581887 ms (missed cycles : 3).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.407902 ms (missed cycles : 6). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.407902 ms (missed cycles : 6).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960511 ms (missed cycles : 2). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960511 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332380 ms (missed cycles : 4). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332380 ms (missed cycles : 4).[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038733 ms (missed cycles : 2). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038733 ms (missed cycles : 2).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126704 ms (missed cycles : 2). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126704 ms (missed cycles : 2).[0m ×2 + 44.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2). + 44.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2).[0m ×2 + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6).[0m ×2 + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3).[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3).[0m ×2 + 47.83sINFOjoint_trajectory_controllerGoal reached, success! + 47.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789581901.31502509 seconds ×3 + 48.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5). + 48.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5).[0m ×2 + 48.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 48.38sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 48.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789581901.86625648 seconds. ×3 + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2).[0m ×2 + 49.59sINFOobjective_server_nodeFound path in 0 iterations (2.5641e-05 s). ×2 + 49.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7). + 50.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 110 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213146 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213146 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448327 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448327 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.71sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789581967.67736554 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285031 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285031 ms (missed cycles : 3).[0m ×2 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087776 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087776 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
+ 4.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.29sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.29sINFOobjective_server_node ×4 + 4.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789581969.24345541 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024439 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024439 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.242209 ms (missed cycles : 7). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.242209 ms (missed cycles : 7).[0m ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.93sINFOjoint_trajectory_controllerReceived new action goal + 6.93sINFOjoint_trajectory_controllerAccepted new action goal + 6.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.205578 ms (missed cycles : 7). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.205578 ms (missed cycles : 7).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737358 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737358 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048765 ms (missed cycles : 2). + 9.51sINFOros2_control_nodeMuJoCo sim: 3.22% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048765 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770745 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770745 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553426 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553426 ms (missed cycles : 3).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904908 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904908 ms (missed cycles : 5).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393754 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393754 ms (missed cycles : 3).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055388 ms (missed cycles : 4). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055388 ms (missed cycles : 4).[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666595 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666595 ms (missed cycles : 3).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.045118 ms (missed cycles : 5). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.045118 ms (missed cycles : 5).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.671365 ms (missed cycles : 6). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.671365 ms (missed cycles : 6).[0m ×2 + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872293 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872293 ms (missed cycles : 2).[0m ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485260 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485260 ms (missed cycles : 3).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151100 ms (missed cycles : 4). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151100 ms (missed cycles : 4).[0m ×2 + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848840 ms (missed cycles : 6). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848840 ms (missed cycles : 6).[0m ×2 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720517 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720517 ms (missed cycles : 2).[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.924035 ms (missed cycles : 8). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.924035 ms (missed cycles : 8).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163674 ms (missed cycles : 4). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163674 ms (missed cycles : 4).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990569 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990569 ms (missed cycles : 2).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626940 ms (missed cycles : 3). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626940 ms (missed cycles : 3).[0m ×2 + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206607 ms (missed cycles : 7). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206607 ms (missed cycles : 7).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196150 ms (missed cycles : 3). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196150 ms (missed cycles : 3).[0m ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509521 ms (missed cycles : 5). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509521 ms (missed cycles : 5).[0m ×2 + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2).[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3).[0m ×2 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6).[0m ×2 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3).[0m ×2 + 35.34sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789582000.25361109 seconds ×3 + 35.46sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.46sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 35.86sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789582000.81415868 seconds. ×3 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2).[0m ×2 + 36.34sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.4s | 61 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784793 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815396 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815396 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100428 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100428 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051133 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051133 ms (missed cycles : 5).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.48sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789582198.30636501 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 6.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 6.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.04sINFOobjective_server_node ×6 + 4.07sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789582198.86530256 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105898 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105898 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546800 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546800 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269069 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269069 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956194 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956194 ms (missed cycles : 5).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291483 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291483 ms (missed cycles : 2).[0m ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (1.657e-06 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.25sINFOobjective_server_nodeFound path in 0 iterations (1.63e-06 s). ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115932 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115932 ms (missed cycles : 4).[0m ×2 + 9.59sINFOobjective_server_nodeFound path in 69 iterations (0.0582853 s). ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.90sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 10.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (2.13e-07 s). ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.607381 ms (missed cycles : 7). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.607381 ms (missed cycles : 7).[0m ×2 + 10.84sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.89sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743977 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743977 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529931 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529931 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892360 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892360 ms (missed cycles : 3).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5).[0m ×2 + 16.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789582211.70693159 seconds ×3 + 17.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 17.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 17.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789582212.30163097 seconds. ×3 + 17.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.51sINFOmove_groupClearing octomap...[0m ×2 + 17.51sINFOmove_groupOctomap cleared.[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4).[0m ×2 + 18.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789582212.96176124 seconds ×3 + 18.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 18.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 18.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789582213.51613498 seconds. ×3 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5).[0m ×2 + 19.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789582214.21974087 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 85 errors · 33 warnings · 452 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5).[0m ×2 + 2.18sINFOjoint_trajectory_controllerGoal reached, success! + 2.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789582211.70693159 seconds ×3 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_node ×4 + 2.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789582212.30163097 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789582212.96176124 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789582213.51613498 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789582214.21974087 seconds ×3 + 4.95sINFOros2_control_nodeMuJoCo sim: 4.00% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747135 ms (missed cycles : 5). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747135 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419469 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419469 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423189 ms (missed cycles : 4). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423189 ms (missed cycles : 4).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671713 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671713 ms (missed cycles : 3).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739649 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739649 ms (missed cycles : 2).[0m ×2 + 11.01sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] ×2 + 11.07sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.11sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.17sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.19sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.21sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.24sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.27sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.29sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.33sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.35sINFOweb_video_server-32process has finished cleanly [pid 10083] ×2 + 11.36sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.38sINFOtf2_web_republisher_node-31process has finished cleanly [pid 10082] ×2 + 11.39sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.40sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.45sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.45sINFOcontroller_managerShutdown request received.... + 11.45sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.45sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.45sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.45sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.45sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.46sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down the controller manager. + 11.48sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.49sERRORui_teleop_bridge-29process has died [pid 10080, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_r5lhtiw0']. ×2 + 11.49sERRORmove_group-20process has died [pid 10012, 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_84a4mhh3 --params-file /tmp/launch_params_keun52_6 --params-file /tmp/launch_params_7wgdp8_0 --params-file /tmp/launch_params_7_n3rmwz --params-file /tmp/launch_params_dq900mwl --params-file /tmp/launch_params_mwli1l6i --params-file /tmp/launch_params_3mvy_to6 --params-file /tmp/launch_params_xcbi434x --params-file /tmp/launch_params_ot7060w7']. ×2 + 11.51sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.52sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789582220.711 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.53sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.53sINFOcomponent_container_mt-27process has finished cleanly [pid 10078] ×2 + 11.53sERRORobjective_server_node_main-25process has died [pid 10076, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_4kortqnq --params-file /tmp/launch_params_ynv_pdxt --params-file /tmp/launch_params_xx59be_w --params-file /tmp/launch_params_0uwumzw6 --params-file /tmp/launch_params_fpx576ov --params-file /tmp/launch_params__nhwchh2']. ×2 + 11.55sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.56sINFOexecute_objective_bridge-28process has finished cleanly [pid 10079] ×2 + 11.58sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.60sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.63sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.63sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.63sINFOmap_serverDeactivating + 11.63sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.63sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.63sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.63sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.2', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.63sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.63sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.63sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.63sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.63sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.63sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.63sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.63sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.63sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.63sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.63sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.63sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.63sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.64sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOmap_serverCleaning up + 11.64sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.64sINFOcontroller_serverDeactivating + 11.64sINFOlocal_costmap.local_costmapDeactivating + 11.64sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOobjective_server_node[2026-09-16 18:10:20.894] [moveit_pro_license] [critical] ×2 + 11.64sINFOobjective_server_node************************************************* ×4 + 11.64sINFOobjective_server_node* MoveIt Pro License ×2 + 11.64sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.64sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.64sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.64sERRORmove_groupStack trace (most recent call last) in thread 10585: ×2 + 11.64sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.64sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7db919ba63, in __clone ×2 + 11.64sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7db910eaa3, in ×2 + 11.64sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.64sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7db939edb3, in ×2 + 11.64sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.2", at 0x7f7db99f51a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.64sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7db97134d0, in rclcpp::Rate::sleep() ×2 + 11.64sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7db9666a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.64sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7db962ba71, in ×2 + 11.64sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7db936d390, in __cxa_throw ×2 + 11.64sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7db9357a54, in std::terminate() ×2 + 11.64sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7db936d0d9, in ×2 + 11.64sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7db9357ff4, in ×2 + 11.64sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7db909a8fe, in abort ×2 + 11.64sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7db90b727d, in raise ×2 + 11.64sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7db9110b2c, in pthread_kill ×2 + 11.64sERRORmove_groupAborted (Signal sent by tkill() 10012 0) ×2 + 11.64sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.64sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558987a086a4, in _start ×2 + 11.64sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f060843528a, in __libc_start_main ×2 + 11.64sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f06084351d0, in ×2 + 11.64sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0608452bbd, in exit ×2 + 11.64sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0608452a75, in ×2 + 11.64sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f06089218f5, in spdlog::details::registry::~registry() ×2 + 11.64sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558987a08d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.64sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558987a0f315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.65sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558987a0e5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.65sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558987a0ab7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.65sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558987a08d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.65sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0608ff0454, in rclcpp::Node::~Node() ×2 + 11.65sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0608fab515, in ×2 + 11.65sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0608feed20, in ×2 + 11.65sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0608feec63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.65sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0608fab5d9, in ×2 + 11.65sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0608fb0161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.65sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f05bd44cbb0]) ×2 + 11.65sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.65sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.65sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.65sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.65sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.65sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.65sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.65sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.65sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.65sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.65sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.65sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.65sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.65sINFOodom_qos_relay.pymain() ×2 + 11.65sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.65sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.65sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.65sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.65sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.66sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.66sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.66sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.66sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.66sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.67sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.67sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.67sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.68sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.69sINFOcontroller_serverCleaning up + 11.69sINFOlocal_costmap.local_costmapCleaning up + 11.74sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.74sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.74sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.74sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.74sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.74sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.74sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.74sINFOvelocity_smootherDeactivating + 11.74sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.75sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.75sINFOsmoother_serverDeactivating + 11.75sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.76sINFOsmoother_serverCleaning up + 11.78sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.78sINFOplanner_serverDeactivating + 11.78sINFOglobal_costmap.global_costmapDeactivating + 11.86sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.86sINFOwaypoint_followerDeactivating + 11.86sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.97sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.97sINFObt_navigatorDeactivating + 11.97sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.08sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.08sINFObehavior_serverDeactivating + 12.08sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.20sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.20sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.20sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.20sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.20sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.20sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.20sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.20sINFOvelocity_smootherCleaning up + 12.20sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.21sINFOwaypoint_followerCleaning up + 12.23sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.23sINFObt_navigatorCleaning up + 12.30sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.30sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.31sINFOplanner_serverCleaning up + 12.33sINFOglobal_costmap.global_costmapCleaning up + 12.34sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.34sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.35sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10075] ×2 + 12.38sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.38sINFObehavior_serverCleaning up + 12.38sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.38sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.38sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.38sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.38sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10033] ×2 + 12.42sINFObt_navigatorCompleted Cleaning up + 12.42sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.45sINFOparameter_manager_node-21process has finished cleanly [pid 10013] ×2 + 12.46sINFOwaypoint_manager_node-22process has finished cleanly [pid 10021] ×2 + 12.47sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.47sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.47sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.47sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.47sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.47sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.47sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.47sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.47sINFOcomponent_container_mt-26process has finished cleanly [pid 10077] ×2 + 12.53sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9922] ×2 + 12.55sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9921] ×2 + 12.59sINFOstatic_transform_publisher-4process has finished cleanly [pid 9919] ×2 + 12.62sINFOstatic_transform_publisher-3process has finished cleanly [pid 9918] ×2 + 12.63sERRORodom_qos_relay.py-5process has died [pid 9920, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.64sINFOstatic_transform_publisher-2process has finished cleanly [pid 9917] ×2 + 12.75sERRORcomponent_container_isolated-1process has died [pid 9916, exit code -6, 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__qhcb3gk --params-file /tmp/launch_params_m9wq3odc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.76sINFOweb_bridge-30process has finished cleanly [pid 10081] ×2 + 13.76sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.17sINFOros2_control_node-8process has finished cleanly [pid 9923] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 54 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399272 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399272 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464230 ms (missed cycles : 7). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464230 ms (missed cycles : 7).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654664 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654664 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254686 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254686 ms (missed cycles : 3).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789582056.48429513 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 10.59) is out of map bounds (-2.60, -2.45) to (2.38, 2.52). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.51, 11.11) is out of map bounds (-2.60, -2.45) to (2.38, 2.52). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-0.23, 3.10) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-1.11, 3.25) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_node ×4 + 3.94sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789582057.05817914 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176809 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176809 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003032 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003032 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585605 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585605 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705080 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705080 ms (missed cycles : 5).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678543 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678543 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680591 ms (missed cycles : 5). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680591 ms (missed cycles : 5).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118484 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118484 ms (missed cycles : 5).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106624 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106624 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509890 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509890 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.726280 ms (missed cycles : 5). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.726280 ms (missed cycles : 5).[0m ×2 + 14.09sINFOjoint_trajectory_controllerGot request to cancel goal + 14.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1789582067.24829102 seconds ×3 + 14.25sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 3.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 14.25sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.69) is out of map bounds (-2.55, -2.40) to (2.43, 2.57). The costmap cannot raytrace for it. + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
+ 14.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789582067.81089163 seconds. ×3 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918726 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918726 ms (missed cycles : 2).[0m ×2 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118292 ms (missed cycles : 4). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118292 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.8s | 40 warnings · 72 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.26sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789581962.92082381 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.81sINFOobjective_server_node ×4 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789581963.48721647 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213146 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213146 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448327 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448327 ms (missed cycles : 3).[0m ×2 + 9.03sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789581967.67736554 seconds ×3 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285031 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285031 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087776 ms (missed cycles : 4). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087776 ms (missed cycles : 4).[0m ×2 + 10.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
+ 10.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789581969.24345541 seconds. ×3 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024439 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024439 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.242209 ms (missed cycles : 7). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.242209 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.9s | 30 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.80sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789581901.31502509 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 4.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 4.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.35sINFOobjective_server_node ×4 + 4.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789581901.86625648 seconds. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (2.5641e-05 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380075 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380075 ms (missed cycles : 3).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789581905.19418216 seconds ×3 + 8.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
+ 8.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789581905.76839972 seconds. ×3 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.437559 ms (missed cycles : 9). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.437559 ms (missed cycles : 9).[0m ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.171478 ms (missed cycles : 6). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.171478 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 21 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892360 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892360 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789582211.70693159 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789582212.30163097 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789582212.96176124 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 5.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789582213.51613498 seconds. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789582214.21974087 seconds ×3 + 6.05sINFOros2_control_nodeMuJoCo sim: 4.00% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747135 ms (missed cycles : 5). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747135 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789581901.31502509 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 4.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 4.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.35sINFOobjective_server_node ×2 + 4.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789581901.86625648 seconds. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (2.5641e-05 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746276 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103055 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584717 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794548 ms (missed cycles : 3).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789581901.31502509 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 4.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 4.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.35sINFOobjective_server_node ×2 + 4.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789581901.86625648 seconds. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (2.5641e-05 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.92sINFOobjective_server_node ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789581962.92082381 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.81sINFOobjective_server_node ×2 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789581963.48721647 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789581962.92082381 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.81sINFOobjective_server_node ×2 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789581963.48721647 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789581962.92082381 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.81sINFOobjective_server_node ×2 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789581963.48721647 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789581962.92082381 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.81sINFOobjective_server_node ×2 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789581963.48721647 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863130 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549873 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323958 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887994 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806197 ms (missed cycles : 4).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789581962.92082381 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.81sINFOobjective_server_node ×2 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789581963.48721647 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325138 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.32sINFOjoint_trajectory_controllerReceived new action goal + 5.32sINFOjoint_trajectory_controllerAccepted new action goal + 5.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405084 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.92sINFOobjective_server_node ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847952 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305743 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910043 ms (missed cycles : 5).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428861 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789582142.27292967 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789582142.84602857 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946475 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892360 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892360 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488204 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437465 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327579 ms (missed cycles : 5).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789582211.70693159 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789582212.30163097 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453593 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789582212.96176124 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 5.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789582213.51613498 seconds. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039350 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789582214.21974087 seconds ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789581901.31502509 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664397 ms (missed cycles : 5).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.55sINFOobjective_server_node ×4 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789581901.86625648 seconds. ×3 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148175 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.5641e-05 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.78sINFOjoint_trajectory_controllerReceived new action goal + 1.78sINFOjoint_trajectory_controllerAccepted new action goal + 1.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290234 ms (missed cycles : 7).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380075 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380075 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789581905.19418216 seconds ×3 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
+ 4.44sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 4.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789581905.76839972 seconds. ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.437559 ms (missed cycles : 9). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.437559 ms (missed cycles : 9).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.171478 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.171478 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 20 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789582000.25361109 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 4.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.10sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789582000.81415868 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 20 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789582000.25361109 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 4.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.10sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789582000.81415868 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 20 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201476 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820110 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046896 ms (missed cycles : 6).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042486 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789582000.25361109 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 4.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.10sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789582000.81415868 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428933 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119185 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.92sINFOobjective_server_node ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 178 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.54sINFOobjective_server_node ×10 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 7.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 7.48sINFOjoint_trajectory_controllerReceived new action goal + 7.48sINFOjoint_trajectory_controllerAccepted new action goal + 7.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835886 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835886 ms (missed cycles : 7).[0m ×2 + 0.71sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.71sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.81sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.81sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.82sINFObehavior_serverActivating + 0.82sINFObehavior_serverActivating spin + 0.82sINFObehavior_serverActivating backup + 0.82sINFObehavior_serverActivating drive_on_heading + 0.82sINFObehavior_serverActivating assisted_teleop + 0.82sINFObehavior_serverActivating wait + 0.82sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.93sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.93sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.93sINFObt_navigatorActivating + 0.98sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.08sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.08sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.08sINFOwaypoint_followerActivating + 1.09sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.19sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.19sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.19sINFOvelocity_smootherActivating + 1.19sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.29sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.29sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.29sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.62sINFOobjective_server_node ×10 + 4.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 4.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.66sINFOmove_groupClearing octomap...[0m ×2 + 4.66sINFOmove_groupOctomap cleared.[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 5.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 5.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 6.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 6.53sINFOobjective_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 + 6.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 7.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 7.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 7.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 7.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.92sINFOobjective_server_node ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835886 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835886 ms (missed cycles : 7).[0m ×2 + 0.71sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.71sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.81sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.81sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.82sINFObehavior_serverActivating + 0.82sINFObehavior_serverActivating spin + 0.82sINFObehavior_serverActivating backup + 0.82sINFObehavior_serverActivating drive_on_heading + 0.82sINFObehavior_serverActivating assisted_teleop + 0.82sINFObehavior_serverActivating wait + 0.82sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.93sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.93sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.93sINFObt_navigatorActivating + 0.98sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.08sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.08sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.08sINFOwaypoint_followerActivating + 1.09sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.19sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.19sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.19sINFOvelocity_smootherActivating + 1.19sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.29sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.29sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.29sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 4.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 4.62sINFOobjective_server_node ×8 + 4.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 4.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.66sINFOmove_groupClearing octomap...[0m ×2 + 4.66sINFOmove_groupOctomap cleared.[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 5.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 5.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 6.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 6.53sINFOobjective_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 + 6.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 169 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.54sINFOobjective_server_node ×10 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.92sINFOobjective_server_node ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.92sINFOobjective_server_node ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217886 ms (missed cycles : 5).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 2.58sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.92sINFOobjective_server_node ×10 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677179 ms (missed cycles : 2).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 3.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688703 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.30sINFOobjective_server_node ×10 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789581855.79714060 seconds. ×3 + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.34sINFOmove_groupClearing octomap...[0m ×2 + 2.34sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789581855.80733681 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789581856.36887336 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789581856.37899184 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653867 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789581856.93065858 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789581857.08122277 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842040 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789581857.66215873 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789581857.71230936 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789581858.27510190 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574695 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967229 ms (missed cycles : 2).[0m ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||