80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.3s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.4s | 12 errors · 32 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 1.33sINFOjoint_trajectory_controllerGoal reached, success! + 1.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.88sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.88sINFOobjective_server_nodecaller: ×6 + 1.88sINFOobjective_server_nodetype: 0 ×6 + 1.88sINFOobjective_server_nodename: "" ×6 + 1.88sINFOobjective_server_nodeinstance_id: "" ×6 + 1.88sINFOobjective_server_node ×6 + 1.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 2.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 + 4.67sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.67sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638960.38741612 seconds ×3 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638935.58321047 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638936.19320440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3).[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789638936.93338561 seconds ×3 + 5.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196288 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196288 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.3s | 30 errors · 39 warnings · 275 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 0.26sINFOjoint_trajectory_controllerGoal reached, success! + 0.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 0.81sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 1.61sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.61sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638935.58321047 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.36sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638936.19320440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3).[0m ×2 + 7.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789638936.93338561 seconds ×3 + 7.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 18 errors · 30 warnings · 225 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 3.21sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.23sINFOobjective_server_nodecaller: ×8 + 3.23sINFOobjective_server_nodetype: 0 ×8 + 3.23sINFOobjective_server_nodename: "" ×8 + 3.23sINFOobjective_server_nodeinstance_id: "" ×8 + 3.23sINFOobjective_server_node ×8 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 4.01sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 4.02sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 5.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 7.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 29 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743233 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449551 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449551 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880020 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880020 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615120 ms (missed cycles : 3). + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615120 ms (missed cycles : 3).[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789638947.21245551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836075 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836075 ms (missed cycles : 3).[0m ×2 + 4.40sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 4.41sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 4.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789638947.94263649 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 5.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789638948.56066418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655683 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655683 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210978 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210978 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606606 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606606 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 33 warnings · 275 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 1.34sINFOjoint_trajectory_controllerGoal reached, success! + 1.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.89sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.91sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.91sINFOobjective_server_nodecaller: ×10 + 1.91sINFOobjective_server_nodetype: 0 ×10 + 1.91sINFOobjective_server_nodename: "" ×10 + 1.91sINFOobjective_server_nodeinstance_id: "" ×10 + 1.91sINFOobjective_server_node ×10 + 1.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 2.69sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.69sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638935.58321047 seconds ×3 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2).[0m ×2 + 7.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.44sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638936.19320440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.3s | 12 errors · 32 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 147 warnings · 393 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.74sINFOobjective_server_nodecaller: ×12 + 0.74sINFOobjective_server_nodetype: 0 ×12 + 0.74sINFOobjective_server_nodename: "" ×12 + 0.74sINFOobjective_server_nodeinstance_id: "" ×12 + 0.74sINFOobjective_server_node ×12 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.78sINFOmove_groupClearing octomap...[0m ×4 + 0.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.78sINFOmove_groupOctomap cleared.[0m ×4 + 0.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115649 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115649 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302301 ms (missed cycles : 4). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302301 ms (missed cycles : 4).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477123 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477123 ms (missed cycles : 3).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675246 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675246 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195760 ms (missed cycles : 4). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195760 ms (missed cycles : 4).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608265 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608265 ms (missed cycles : 3).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310634 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310634 ms (missed cycles : 2).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.734ms + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692703 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692703 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465752 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465752 ms (missed cycles : 3).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229154 ms (missed cycles : 4). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229154 ms (missed cycles : 4).[0m ×2 + 16.89sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941632 ms (missed cycles : 3). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941632 ms (missed cycles : 3).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721840 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721840 ms (missed cycles : 3).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054349 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054349 ms (missed cycles : 2).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699799 ms (missed cycles : 3). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699799 ms (missed cycles : 3).[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721347 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721347 ms (missed cycles : 2).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779391 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779391 ms (missed cycles : 2).[0m ×2 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293060 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293060 ms (missed cycles : 2).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007414 ms (missed cycles : 2). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007414 ms (missed cycles : 2).[0m ×2 + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358153 ms (missed cycles : 4). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358153 ms (missed cycles : 4).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715285 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715285 ms (missed cycles : 2).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686265 ms (missed cycles : 3). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686265 ms (missed cycles : 3).[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934974 ms (missed cycles : 2). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934974 ms (missed cycles : 2).[0m ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422497 ms (missed cycles : 3). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422497 ms (missed cycles : 3).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924840 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924840 ms (missed cycles : 2).[0m ×2 + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661066 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661066 ms (missed cycles : 3).[0m ×2 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955884 ms (missed cycles : 3). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955884 ms (missed cycles : 3).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906516 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906516 ms (missed cycles : 3).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019194 ms (missed cycles : 3). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019194 ms (missed cycles : 3).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229765 ms (missed cycles : 2). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229765 ms (missed cycles : 2).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964531 ms (missed cycles : 3). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964531 ms (missed cycles : 3).[0m ×2 + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693437 ms (missed cycles : 3). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693437 ms (missed cycles : 3).[0m ×2 + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748039 ms (missed cycles : 3). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748039 ms (missed cycles : 3).[0m ×2 + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703943 ms (missed cycles : 3). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703943 ms (missed cycles : 3).[0m ×2 + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072363 ms (missed cycles : 3). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072363 ms (missed cycles : 3).[0m ×2 + 42.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2).[0m ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2).[0m ×2 + 46.22sINFOjoint_trajectory_controllerGoal reached, success! + 46.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789638923.96912003 seconds ×3 + 46.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2). + 46.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2).[0m ×2 + 46.80sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789638924.54718828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2).[0m ×2 + 47.97sINFOobjective_server_nodeFound path in 0 iterations (2.4708e-05 s). ×2 + 48.04sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2).[0m ×2 + 49.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2).[0m ×2 + 50.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 108 errors · 32 warnings · 488 info |
+ 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×3 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×6 + 0.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 0.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.52sINFOobjective_server_nodecaller: ×4 + 0.52sINFOobjective_server_nodetype: 0 ×4 + 0.52sINFOobjective_server_nodename: "" ×4 + 0.52sINFOobjective_server_nodeinstance_id: "" ×4 + 0.52sINFOobjective_server_node ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.56sINFOmove_groupClearing octomap...[0m ×2 + 0.56sINFOmove_groupOctomap cleared.[0m ×2 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638960.38741612 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638960.97317100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898330 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898330 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789638961.80329680 seconds ×3 + 4.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889264 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889264 ms (missed cycles : 3).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897863 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897863 ms (missed cycles : 5).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473814 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473814 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845802 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845802 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423074 ms (missed cycles : 4). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423074 ms (missed cycles : 4).[0m ×2 + 10.65sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.67sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORweb_video_auth_proxy-37process has died [pid 8930, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.68sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.68sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORweb_bridge_auth_proxy-36process has died [pid 8927, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.69sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.71sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.72sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.73sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.74sINFOvideo_server-35process has finished cleanly [pid 8922] ×2 + 10.74sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.75sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.76sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.77sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.79sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.80sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.81sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.82sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.84sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.85sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.85sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.86sINFOcontroller_managerShutdown request received.... + 10.86sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.86sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.86sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.86sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.86sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.86sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.86sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.86sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.86sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.86sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.86sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.86sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.86sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.86sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down the controller manager. + 10.86sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.87sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.88sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.89sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.90sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.91sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.92sERRORmove_group-23process has died [pid 8871, 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_txwhfb4o --params-file /tmp/launch_params_psszxqp3 --params-file /tmp/launch_params_78zb0xkn --params-file /tmp/launch_params__sc_l52c --params-file /tmp/launch_params_rupd5ob8 --params-file /tmp/launch_params_a9ku47ca']. ×2 + 10.93sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.94sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.95sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.95sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.95sINFOmap_serverDeactivating + 10.95sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.96sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.96sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.96sINFOcontroller_serverDeactivating + 10.96sINFOlocal_costmap.local_costmapDeactivating + 10.96sINFOvideo_server2026/09/17 09:56:07 INF shutting down gracefully ×2 + 10.96sINFOvideo_server2026/09/17 09:56:07 INF [WebRTC] closing ×2 + 10.96sINFOvideo_server2026/09/17 09:56:07 INF [RTSP] closing ×2 + 10.96sINFOvideo_server2026/09/17 09:56:07 INF waiting for running hooks ×2 + 10.96sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOmap_serverCleaning up + 10.96sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.96sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.96sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.96sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.96sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.96sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.96sERRORmove_groupStack trace (most recent call last) in thread 9518: ×2 + 10.96sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.96sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20ce067a63, in __clone ×2 + 10.96sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20cdfdaaa3, in ×2 + 10.96sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20ce26cdb3, in ×2 + 10.96sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f20ce9d0b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.96sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f20ce5fe620, in rclcpp::Rate::sleep() ×2 + 10.96sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f20ce540d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.96sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f20ce502087, in ×2 + 10.97sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.97sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.97sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.97sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.97sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.97sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.97sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.97sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.97sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.97sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20ce23b390, in __cxa_throw ×2 + 10.97sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20ce225a54, in std::terminate() ×2 + 10.97sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20ce23b0d9, in ×2 + 10.97sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20ce225ff4, in ×2 + 10.97sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20cdf668fe, in abort ×2 + 10.97sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20cdf8327d, in raise ×2 + 10.97sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20cdfdcb2c, in pthread_kill ×2 + 10.97sERRORmove_groupAborted (Signal sent by tkill() 8871 0) ×2 + 10.97sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.97sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.97sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.97sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.97sINFOodom_qos_relay.pymain() ×2 + 10.97sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.97sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.97sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.97sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.97sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.97sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.97sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.97sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.97sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.97sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.97sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.97sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.97sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.97sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.97sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.98sERRORamclThe bond connection to the lifecycle manager has been broken + 11.03sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.04sINFOcontroller_serverCleaning up + 11.04sINFOlocal_costmap.local_costmapCleaning up + 11.07sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.07sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.08sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.09sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.09sINFOsmoother_serverDeactivating + 11.09sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.10sINFOsmoother_serverCleaning up + 11.12sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.12sINFOplanner_serverDeactivating + 11.12sINFOglobal_costmap.global_costmapDeactivating + 11.15sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.15sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.16sINFOplanner_serverCleaning up + 11.18sINFOglobal_costmap.global_costmapCleaning up + 11.19sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.19sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.21sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.21sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.21sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.21sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.21sINFOvelocity_smootherDeactivating + 11.21sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.22sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.22sINFObehavior_serverDeactivating + 11.22sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.23sINFObehavior_serverCleaning up + 11.23sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.23sINFObt_navigatorDeactivating + 11.23sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.23sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.24sINFObt_navigatorCleaning up + 11.33sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.33sINFOwaypoint_followerDeactivating + 11.33sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.39sINFObt_navigatorCompleted Cleaning up + 11.39sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.39sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.39sINFOvelocity_smootherCleaning up + 11.39sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.46sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.46sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.46sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.46sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.46sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.46sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.46sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.46sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.46sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.46sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.46sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.47sINFOwaypoint_followerCleaning up + 11.49sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.49sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.49sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.49sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.49sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.49sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.49sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.49sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.50sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.78sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8921] ×2 + 11.78sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.79sERRORcomponent_container_isolated-1process has died [pid 8751, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_6m2vbdqt --params-file /tmp/launch_params_g7h71sbi -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.84sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8909] ×2 + 11.87sINFOui_teleop_bridge-32process has finished cleanly [pid 8915] ×2 + 11.87sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8908] ×2 + 11.87sINFOexecute_objective_bridge-31process has finished cleanly [pid 8914] ×2 + 11.90sINFOparameter_manager_node-24process has finished cleanly [pid 8875] ×2 + 11.91sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8852] ×2 + 11.92sINFOwaypoint_manager_node-25process has finished cleanly [pid 8906] ×2 + 11.93sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8759] ×2 + 11.93sINFOstatic_transform_publisher-8process has finished cleanly [pid 8758] ×2 + 11.95sINFOstatic_transform_publisher-7process has finished cleanly [pid 8757] ×2 + 11.95sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.95sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.95sINFOlidar_flattener.pymain() ×2 + 11.95sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.95sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.95sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.95sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.95sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.95sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.95sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.95sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.95sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.95sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.95sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.95sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.95sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.95sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.95sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.95sINFOcomponent_container_mt-30process has finished cleanly [pid 8913] ×2 + 11.97sINFOstatic_transform_publisher-4process has finished cleanly [pid 8754] ×2 + 11.98sINFOstatic_transform_publisher-3process has finished cleanly [pid 8753] ×2 + 11.98sINFOcomponent_container_mt-29process has finished cleanly [pid 8911] ×2 + 11.99sINFOobjective_server_node[2026-09-17 09:56:09.076] [moveit_pro_license] [info] ×2 + 11.99sINFOobjective_server_node************************************************* ×4 + 11.99sINFOobjective_server_node* MoveIt Pro License ×2 + 11.99sINFOobjective_server_node* Application has successfully terminated ×2 + 12.00sERRORlidar_flattener.py-6process has died [pid 8756, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_tg2m1ec6']. ×2 + 12.02sERRORodom_qos_relay.py-5process has died [pid 8755, 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 + 12.05sINFOobjective_server_node_main-28process has finished cleanly [pid 8910] ×2 + 12.05sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 13.33sERRORcomponent_container_isolated-2process has died [pid 8752, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_6m2vbdqt --params-file /tmp/launch_params_kl31rr09 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.41sINFOweb_bridge-33process has finished cleanly [pid 8920] ×2 + 13.42sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 13.59sINFOros2_control_node-11process has finished cleanly [pid 8853] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 30 errors · 65 warnings · 273 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 1.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638935.58321047 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638936.19320440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3).[0m ×2 + 4.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789638936.93338561 seconds ×3 + 4.25sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196288 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196288 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440272 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440272 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854205 ms (missed cycles : 5). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854205 ms (missed cycles : 5).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777304 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777304 ms (missed cycles : 3).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743233 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743233 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449551 ms (missed cycles : 4). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449551 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880020 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880020 ms (missed cycles : 2).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615120 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615120 ms (missed cycles : 3).[0m ×2 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789638947.21245551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836075 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836075 ms (missed cycles : 3).[0m ×2 + 15.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789638947.94263649 seconds ×3 + 15.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.65sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789638948.56066418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655683 ms (missed cycles : 3). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655683 ms (missed cycles : 3).[0m ×2 + 16.11sINFOjoint_trajectory_controllerReceived new action goal + 16.11sINFOjoint_trajectory_controllerAccepted new action goal + 16.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210978 ms (missed cycles : 4). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210978 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.3s | 18 errors · 49 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880020 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615120 ms (missed cycles : 3). + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615120 ms (missed cycles : 3).[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789638947.21245551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836075 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836075 ms (missed cycles : 3).[0m ×2 + 2.33sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.33sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789638947.94263649 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.95sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789638948.56066418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655683 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655683 ms (missed cycles : 3).[0m ×2 + 3.36sINFOjoint_trajectory_controllerReceived new action goal + 3.36sINFOjoint_trajectory_controllerAccepted new action goal + 3.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210978 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210978 ms (missed cycles : 4).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606606 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606606 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 8.71sINFOjoint_trajectory_controllerGoal reached, success! + 8.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 9.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 10.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 10.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.59sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 12.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.04sINFOmove_groupClearing octomap...[0m ×2 + 12.04sINFOmove_groupOctomap cleared.[0m ×2 + 12.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 12 errors · 42 warnings · 242 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789638923.96912003 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2). + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.26sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.26sINFOobjective_server_nodecaller: ×8 + 3.26sINFOobjective_server_nodetype: 0 ×8 + 3.26sINFOobjective_server_nodename: "" ×8 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789638924.54718828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.4708e-05 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 7.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 8.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 8.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 9.40sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 9.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.42sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 10.20sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 10.20sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 10.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 10.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.89sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 11.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 12.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.18sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.22sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.3s | 12 errors · 38 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 0.27sINFOjoint_trajectory_controllerGoal reached, success! + 0.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.82sINFOobjective_server_nodecaller: ×8 + 0.82sINFOobjective_server_nodetype: 0 ×8 + 0.82sINFOobjective_server_nodename: "" ×8 + 0.82sINFOobjective_server_nodeinstance_id: "" ×8 + 0.82sINFOobjective_server_node ×8 + 0.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 1.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.58sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638960.38741612 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.88sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638960.97317100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898330 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898330 ms (missed cycles : 2).[0m ×2 + 7.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789638961.80329680 seconds ×3 + 7.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889264 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889264 ms (missed cycles : 3).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897863 ms (missed cycles : 5). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897863 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 20 warnings · 319 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.74sINFOobjective_server_nodecaller: ×10 + 0.74sINFOobjective_server_nodetype: 0 ×10 + 0.74sINFOobjective_server_nodename: "" ×10 + 0.74sINFOobjective_server_nodeinstance_id: "" ×10 + 0.74sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.78sINFOmove_groupClearing octomap...[0m ×4 + 0.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.78sINFOmove_groupOctomap cleared.[0m ×4 + 0.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal + 4.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.70sINFOjoint_trajectory_controllerAccepted new action goal + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789638923.96912003 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2). + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789638924.54718828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.4708e-05 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816223 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541195 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063271 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789638923.96912003 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2). + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199032 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789638924.54718828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894647 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.4708e-05 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847040 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 172 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193198 ms (missed cycles : 2).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 3.21sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 4.01sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.02sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 5.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 27 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 1.34sINFOjoint_trajectory_controllerGoal reached, success! + 1.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.89sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.91sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.91sINFOobjective_server_nodecaller: ×8 + 1.91sINFOobjective_server_nodetype: 0 ×8 + 1.91sINFOobjective_server_nodename: "" ×8 + 1.91sINFOobjective_server_nodeinstance_id: "" ×8 + 1.91sINFOobjective_server_node ×8 + 1.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 2.69sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.69sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 27 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 1.34sINFOjoint_trajectory_controllerGoal reached, success! + 1.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.89sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.91sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.91sINFOobjective_server_nodecaller: ×8 + 1.91sINFOobjective_server_nodetype: 0 ×8 + 1.91sINFOobjective_server_nodename: "" ×8 + 1.91sINFOobjective_server_nodeinstance_id: "" ×8 + 1.91sINFOobjective_server_node ×8 + 1.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 2.69sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.69sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 27 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 1.34sINFOjoint_trajectory_controllerGoal reached, success! + 1.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.89sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.91sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.91sINFOobjective_server_nodecaller: ×8 + 1.91sINFOobjective_server_nodetype: 0 ×8 + 1.91sINFOobjective_server_nodename: "" ×8 + 1.91sINFOobjective_server_nodeinstance_id: "" ×8 + 1.91sINFOobjective_server_node ×8 + 1.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 2.69sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.69sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 27 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 1.34sINFOjoint_trajectory_controllerGoal reached, success! + 1.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.89sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.91sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.91sINFOobjective_server_nodecaller: ×8 + 1.91sINFOobjective_server_nodetype: 0 ×8 + 1.91sINFOobjective_server_nodename: "" ×8 + 1.91sINFOobjective_server_nodeinstance_id: "" ×8 + 1.91sINFOobjective_server_node ×8 + 1.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 2.69sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.69sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 27 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436746 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082638 ms (missed cycles : 3).[0m ×2 + 1.34sINFOjoint_trajectory_controllerGoal reached, success! + 1.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638930.12735081 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.89sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.768ms + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.91sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.91sINFOobjective_server_nodecaller: ×8 + 1.91sINFOobjective_server_nodetype: 0 ×8 + 1.91sINFOobjective_server_nodename: "" ×8 + 1.91sINFOobjective_server_nodeinstance_id: "" ×8 + 1.91sINFOobjective_server_node ×8 + 1.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638930.71142888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111775 ms (missed cycles : 3).[0m ×2 + 2.69sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.69sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 33 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638935.58321047 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638936.19320440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3).[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789638936.93338561 seconds ×3 + 5.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 33 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638935.58321047 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638936.19320440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3).[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789638936.93338561 seconds ×3 + 5.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 33 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638931.45162606 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638932.13218355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878189 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638932.86235261 seconds ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642239 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638933.46716404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638934.21732879 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186600 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638934.83304071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638935.58321047 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921186 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638936.19320440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593546 ms (missed cycles : 3).[0m ×2 + 5.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789638936.93338561 seconds ×3 + 5.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853875 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 26 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 26 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 26 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 26 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 26 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 26 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 26 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218181 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662114 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 29 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982917 ms (missed cycles : 3).[0m ×2 + 0.27sINFOjoint_trajectory_controllerGoal reached, success! + 0.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638954.32079744 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.82sINFOobjective_server_nodecaller: ×6 + 0.82sINFOobjective_server_nodetype: 0 ×6 + 0.82sINFOobjective_server_nodename: "" ×6 + 0.82sINFOobjective_server_nodeinstance_id: "" ×6 + 0.82sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638954.91458607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414309 ms (missed cycles : 3).[0m ×2 + 1.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.58sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638955.63475513 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735441 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638956.25198269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638957.04214096 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776229 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638957.64729643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485977 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467841 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638960.38741612 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362402 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.3s | 77 errors · 516 warnings · 2522 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-09-52-19-035673-aea532ca8cb9-7585 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.08sINFOros2_control_node-11process started with pid [7737] + 5.09sINFOmove_group-23process started with pid [7753] + 5.09sINFOparameter_manager_node-24process started with pid [7754] + 5.09sINFOwaypoint_manager_node-25process started with pid [7790] + 5.09sINFOmove_joint_resampler_node-26process started with pid [7791] + 5.09sINFOmove_end_effector_resampler_node-27process started with pid [7792] + 5.09sINFOobjective_server_node_main-28process started with pid [7793] + 5.09sINFOcomponent_container_mt-29process started with pid [7794] + 5.09sINFOcomponent_container_mt-30process started with pid [7795] + 5.09sINFOexecute_objective_bridge-31process started with pid [7796] + 5.09sINFOui_teleop_bridge-32process started with pid [7797] + 5.09sINFOweb_bridge-33process started with pid [7798] + 5.09sINFOtf2_web_republisher_node-34process started with pid [7799] + 5.09sINFOvideo_server-35process started with pid [7800] + 5.09sINFOweb_bridge_auth_proxy-36process started with pid [7801] + 5.09sINFOweb_video_auth_proxy-37process started with pid [7802] + 5.09sINFOcomponent_container_isolated-1process started with pid [7635] + 5.09sINFOcomponent_container_isolated-2process started with pid [7636] + 5.09sINFOstatic_transform_publisher-3process started with pid [7637] + 5.09sINFOstatic_transform_publisher-4process started with pid [7638] + 5.09sINFOodom_qos_relay.py-5process started with pid [7639] + 5.09sINFOlidar_flattener.py-6process started with pid [7640] + 5.09sINFOstatic_transform_publisher-7process started with pid [7641] + 5.09sINFOstatic_transform_publisher-8process started with pid [7642] + 5.09sINFOscan_to_scan_filter_chain-9process started with pid [7643] + 5.09sINFOscan_to_scan_filter_chain-10process started with pid [7736] + 5.09sINFOros2-12process started with pid [7738] + 5.09sINFOros2-13process started with pid [7739] + 5.09sINFOros2-14process started with pid [7740] + 5.09sINFOros2-15process started with pid [7741] + 5.09sINFOros2-16process started with pid [7742] + 5.09sINFOros2-17process started with pid [7745] + 5.09sINFOros2-18process started with pid [7746] + 5.09sINFOros2-19process started with pid [7747] + 5.09sINFOros2-20process started with pid [7748] + 5.09sINFOros2-21process started with pid [7751] + 5.09sINFOros2-22process started with pid [7752] + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.18sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.18sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.18sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.18sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.18sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.18sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.18sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.18sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.18sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.18sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.18sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.18sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.19sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.19sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.19sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.19sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.19sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.19sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684976 ms (missed cycles : 6).[0m + 5.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.31sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.39sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.42sINFOvideo_server2026/09/17 09:52:26 INF MediaMTX v1.20.1, linux, amd64 + 5.42sINFOvideo_server2026/09/17 09:52:26 INF configuration loaded from /tmp/moveit-webrtc-bdgtxqq1/mediamtx.yml + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.43sINFOvideo_server2026/09/17 09:52:26 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.43sINFOvideo_server2026/09/17 09:52:26 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.46sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.49sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.52sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.79sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.82sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.87sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 5.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.03sINFOmove_groupLoaded robot model in 0.438231 seconds[0m + 6.03sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 6.03sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.70sINFOwaypoint_manager_nodeLoaded robot model in 0.265007 seconds[0m + 6.70sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.70sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965378 ms (missed cycles : 3).[0m + 7.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.14sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 7.14sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 7.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.27sINFOmove_group[2026-09-17 09:52:27.990] [moveit_pro_license] [info] + 7.27sINFOmove_group************************************************* ×6 + 7.27sINFOmove_group* MoveIt Pro License ×3 + 7.27sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.42sINFOwaypoint_manager_node[2026-09-17 09:52:28.136] [moveit_pro_license] [info] + 7.42sINFOwaypoint_manager_node************************************************* ×6 + 7.42sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.42sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.72sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.72sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.72sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.72sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.72sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.73sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.73sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.73sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.73sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.73sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.73sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.91sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.91sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.92sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.99sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.99sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.99sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 8.00sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 8.00sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 8.00sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 8.00sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 8.00sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 8.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 8.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 8.00sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 8.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 8.00sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.00sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 8.00sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.00sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 8.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 8.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 8.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 8.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 8.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 8.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 8.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848858 ms (missed cycles : 2).[0m + 8.23sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.23sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.23sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 8.24sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.24sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 8.25sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 8.29sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 8.29sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 8.29sINFOros2_control_nodeconfigure successful[0m ×9 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.51sINFOobjective_server_node[2026-09-17 09:52:29.230] [moveit_pro_license] [info] + 8.51sINFOobjective_server_node************************************************* ×8 + 8.51sINFOobjective_server_node* MoveIt Pro License ×4 + 8.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 8.56sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.56sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.60sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.60sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.60sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.62sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.62sINFOros2-17process has finished cleanly [pid 7745] + 8.62sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.62sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.62sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 8.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.62sINFOobjective_server_nodeLoaded robot model in 0.0510452 seconds[0m + 8.62sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.62sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.64sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 8.65sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 8.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 8.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.66sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 8.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.74sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 8.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.84sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 8.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.98sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.98sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 9.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 9.04sINFOros2-15process has finished cleanly [pid 7741] + 9.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.12sINFOcomponent_container_mtLoaded robot model in 0.375573 seconds[0m + 9.12sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 9.12sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 9.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.19sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 9.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 9.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.21sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 9.21sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 9.23sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.23sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.23sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.23sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.23sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.23sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.23sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.32sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269770 ms (missed cycles : 2).[0m + 9.68sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.68sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.69sINFOros2_control_node[2026-09-17 09:52:30.411] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.70sINFOros2_control_node[2026-09-17 09:52:30.414] [info] Controller state will be published at 10 Hz. + 9.70sINFOros2_control_node[2026-09-17 09:52:30.415] [info] VelocityForceController 'on_configure' succeeded. + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.75sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.75sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.75sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.75sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.75sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.76sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.76sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.83sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.92sINFOmove_group ×12 + 9.92sINFOmove_group******************************************************** ×6 + 9.92sINFOmove_group* MoveGroup using: ×3 + 9.92sINFOmove_group* - apply_planning_scene_service ×3 + 9.92sINFOmove_group* - clear_octomap_service ×3 + 9.92sINFOmove_group* - get_group_urdf ×3 + 9.92sINFOmove_group* - load_geometry_from_file ×3 + 9.92sINFOmove_group* - get_planning_scene_service ×3 + 9.92sINFOmove_group* - kinematics_service ×3 + 9.92sINFOmove_group* - save_geometry_to_file ×3 + 9.92sINFOmove_group* - GetPlanningGroups ×3 + 9.92sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.92sINFOmove_group[0m ×3 + 9.92sINFOmove_group[92mYou can start planning now![0m ×3 + 10.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 10.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 10.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 10.03sINFOcomponent_container_mt[2026-09-17 09:52:30.742] [moveit_pro_license] [info] + 10.03sINFOcomponent_container_mt************************************************* ×6 + 10.03sINFOcomponent_container_mt* MoveIt Pro License ×3 + 10.03sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 10.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 10.05sINFOros2-20process has finished cleanly [pid 7748] + 10.05sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 10.06sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 10.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 10.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 10.07sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 10.26sWARNros2_control_nodeCamera render tick took 1.08 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 10.29sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.29sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 10.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 10.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 10.40sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.40sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.44sINFOros2-16process has finished cleanly [pid 7742] + 10.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 10.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 10.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 10.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 10.47sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 10.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094539 ms (missed cycles : 2).[0m + 10.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 10.80sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 10.81sINFOros2-14process has finished cleanly [pid 7740] + 10.86sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 10.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m + 10.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 10.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 11.35sINFOros2_control_node[2026-09-17 09:52:32.070] [info] Controller state will be published at 20 Hz. + 11.35sINFOros2_control_node[2026-09-17 09:52:32.071] [info] JointVelocityController 'on_configure' succeeded. + 11.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.68sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 11.68sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 11.72sINFOros2-21process has finished cleanly [pid 7751] + 11.74sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 11.74sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132668 ms (missed cycles : 2).[0m + 12.18sINFOros2_control_node[2026-09-17 09:52:32.895] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.18sINFOros2_control_node[2026-09-17 09:52:32.896] [info] Controller state will be published at 10 Hz. + 12.18sINFOros2_control_node[2026-09-17 09:52:32.898] [info] VelocityForceController 'on_configure' succeeded. + 12.50sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 12.50sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 12.50sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 12.54sINFOros2-19process has finished cleanly [pid 7747] + 12.55sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 12.55sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 12.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 12.56sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650949 ms (missed cycles : 2).[0m + 12.88sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 12.88sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 12.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 12.93sINFOros2-13process has finished cleanly [pid 7739] + 12.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 12.95sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 12.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 12.96sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 13.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 13.29sINFOros2-12process has finished cleanly [pid 7738] + 13.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 13.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 13.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 13.41sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 13.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 13.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 13.41sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 13.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 13.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 13.70sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 13.70sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 13.70sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_69b5kx4q --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_lb96tojs --params-file /tmp/launch_params_e5fpppad [0m + 13.76sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 13.76sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 13.76sINFOros2-18process has finished cleanly [pid 7746] + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914889 ms (missed cycles : 3).[0m + 14.24sINFOros2_control_node[2026-09-17 09:52:34.956] [info] Controller state will be published at 20 Hz. + 14.24sINFOros2_control_node[2026-09-17 09:52:34.957] [info] JointVelocityController 'on_configure' succeeded. + 14.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 14.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 14.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 14.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 14.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.57sINFOros2-22process has finished cleanly [pid 7752] + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684807 ms (missed cycles : 3).[0m + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213704 ms (missed cycles : 3).[0m + 16.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312763 ms (missed cycles : 2).[0m + 17.76sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 18.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100241 ms (missed cycles : 2).[0m + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910053 ms (missed cycles : 2).[0m + 19.52sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 19.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 19.52sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 19.52sINFOobjective_server_nodeparameter_overrides: [] ×27 + 19.52sINFOobjective_server_nodecaller: ×27 + 19.52sINFOobjective_server_nodetype: 0 ×27 + 19.52sINFOobjective_server_nodename: "" ×27 + 19.52sINFOobjective_server_nodeinstance_id: "" ×27 + 19.52sINFOobjective_server_node ×27 + 19.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638760.27223611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.56sINFOmove_groupClearing octomap...[0m ×7 + 19.56sINFOmove_groupOctomap cleared.[0m ×7 + 19.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638760.28244615 seconds + 20.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 20.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638760.85921574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638760.87935710 seconds + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719956 ms (missed cycles : 3).[0m + 20.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638761.46034336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638761.61090565 seconds + 21.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 21.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638762.21087861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 21.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 21.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 21.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224318 ms (missed cycles : 3).[0m + 21.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638762.27100229 seconds + 22.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 22.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638762.85333133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 22.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 22.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 22.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918393 ms (missed cycles : 3).[0m + 23.20sINFOobjective_server_nodePlanning for 177 path waypoints. + 23.51sINFOros2_control_nodeReceived new action goal[0m ×3 + 23.51sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664376 ms (missed cycles : 2).[0m + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992642 ms (missed cycles : 3).[0m + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403915 ms (missed cycles : 2).[0m + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969372 ms (missed cycles : 5).[0m + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672653 ms (missed cycles : 3).[0m + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950463 ms (missed cycles : 2).[0m + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020808 ms (missed cycles : 4).[0m + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453577 ms (missed cycles : 4).[0m + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159020 ms (missed cycles : 2).[0m + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530998 ms (missed cycles : 3).[0m + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433659 ms (missed cycles : 3).[0m + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148362 ms (missed cycles : 2).[0m + 36.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m + 36.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867445 ms (missed cycles : 3).[0m + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663192 ms (missed cycles : 2).[0m + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119386 ms (missed cycles : 3).[0m + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899815 ms (missed cycles : 3).[0m + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999414 ms (missed cycles : 2).[0m + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702703 ms (missed cycles : 3).[0m + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450753 ms (missed cycles : 3).[0m + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294386 ms (missed cycles : 3).[0m + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157312 ms (missed cycles : 2).[0m + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079536 ms (missed cycles : 2).[0m + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095708 ms (missed cycles : 3).[0m + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143348 ms (missed cycles : 2).[0m + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850333 ms (missed cycles : 3).[0m + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155877 ms (missed cycles : 2).[0m + 51.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901505 ms (missed cycles : 3).[0m + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966011 ms (missed cycles : 2).[0m + 53.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947268 ms (missed cycles : 3).[0m + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395442 ms (missed cycles : 3).[0m + 55.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786488 ms (missed cycles : 4).[0m + 56.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447548 ms (missed cycles : 3).[0m + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784292 ms (missed cycles : 2).[0m + 58.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834218 ms (missed cycles : 2).[0m + 59.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668493 ms (missed cycles : 3).[0m + 60.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265929 ms (missed cycles : 2).[0m + 61.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810571 ms (missed cycles : 2).[0m + 62.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791086 ms (missed cycles : 2).[0m + 63.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986709 ms (missed cycles : 3).[0m + 64.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648012 ms (missed cycles : 3).[0m + 65.15sINFOros2_control_nodeGoal reached, success![0m ×3 + 65.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789638805.88470793 seconds + 65.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789638806.46159601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079418 ms (missed cycles : 2).[0m + 66.81sINFOobjective_server_nodeFound path in 0 iterations (2.4683e-05 s). + 66.88sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071643 ms (missed cycles : 3).[0m + 68.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675551 ms (missed cycles : 5).[0m + 69.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273411 ms (missed cycles : 3).[0m + 70.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923543 ms (missed cycles : 3).[0m + 71.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479985 ms (missed cycles : 3).[0m + 71.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789638811.97172904 seconds + 71.80sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789638812.56018877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840617 ms (missed cycles : 3).[0m + 72.59sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 72.60sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 72.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789638813.32040644 seconds + 73.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781852 ms (missed cycles : 3).[0m + 73.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 73.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789638814.00337243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789638814.71353292 seconds + 74.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442780 ms (missed cycles : 3).[0m + 74.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789638815.32511020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789638816.04530191 seconds + 75.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522911 ms (missed cycles : 3).[0m + 75.90sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789638816.65587211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042975 ms (missed cycles : 5).[0m + 76.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789638817.39603782 seconds + 77.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 77.30sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789638818.01959300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042091 ms (missed cycles : 2).[0m + 78.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789638818.82975483 seconds + 78.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 78.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706795 ms (missed cycles : 3).[0m + 79.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570708 ms (missed cycles : 3).[0m + 80.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067718 ms (missed cycles : 2).[0m + 81.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279656 ms (missed cycles : 2).[0m + 82.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154782 ms (missed cycles : 4).[0m + 83.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836198 ms (missed cycles : 4).[0m + 85.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158879 ms (missed cycles : 2).[0m + 86.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747831 ms (missed cycles : 3).[0m + 87.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289396 ms (missed cycles : 2).[0m + 88.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706334 ms (missed cycles : 2).[0m + 88.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 88.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789638829.03503847 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789638829.75521326 seconds + 89.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406507 ms (missed cycles : 3).[0m + 89.61sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 89.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789638830.36541963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 90.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142039 ms (missed cycles : 2).[0m + 90.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m + 91.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046467 ms (missed cycles : 2).[0m + 92.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131566 ms (missed cycles : 2).[0m + 93.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002071 ms (missed cycles : 2).[0m + 94.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990843 ms (missed cycles : 3).[0m + 95.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789638836.16555071 seconds + 95.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260548 ms (missed cycles : 2).[0m + 96.00sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 96.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789638836.75723720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351646 ms (missed cycles : 3).[0m + 96.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789638837.54740691 seconds + 97.40sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 97.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789638838.16492343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358820 ms (missed cycles : 3).[0m + 98.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789638838.87509370 seconds + 98.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 98.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638839.48197913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 99.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840185 ms (missed cycles : 3).[0m +100.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739741 ms (missed cycles : 2).[0m +101.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482183 ms (missed cycles : 3).[0m +102.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638842.81484985 seconds +102.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628628 ms (missed cycles : 2).[0m +102.64sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +102.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638843.39650393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +103.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789638844.26667643 seconds +103.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +104.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684806 ms (missed cycles : 2).[0m +105.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854069 ms (missed cycles : 3).[0m +106.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069405 ms (missed cycles : 4).[0m +107.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757901 ms (missed cycles : 2).[0m +108.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498184 ms (missed cycles : 2).[0m +109.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248899 ms (missed cycles : 2).[0m +109.93sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.93sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.94sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.95sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.96sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.96sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +109.96sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORweb_video_auth_proxy-37process has died [pid 7802, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +109.97sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +109.98sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.98sERRORweb_bridge_auth_proxy-36process has died [pid 7801, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +109.98sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +109.99sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +109.99sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +110.00sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +110.01sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +110.02sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +110.03sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +110.04sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +110.06sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +110.07sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +110.08sINFOvideo_server-35process has finished cleanly [pid 7800] +110.08sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +110.09sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +110.10sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +110.12sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +110.13sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +110.14sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +110.15sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +110.16sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +110.16sERRORmove_group-23process has died [pid 7753, 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_nr0ml54h --params-file /tmp/launch_params_3rm9z040 --params-file /tmp/launch_params_ie74oswq --params-file /tmp/launch_params_4o3vzaby --params-file /tmp/launch_params_id4_5vbl --params-file /tmp/launch_params_y9eq9_r4']. +110.17sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +110.18sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +110.18sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +110.20sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +110.21sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +110.22sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +110.22sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +110.22sINFOvideo_server2026/09/17 09:54:10 INF shutting down gracefully +110.22sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.22sINFOvideo_server2026/09/17 09:54:10 INF [WebRTC] closing +110.22sINFOvideo_server2026/09/17 09:54:10 INF [RTSP] closing +110.22sINFOvideo_server2026/09/17 09:54:10 INF waiting for running hooks +110.22sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOcomponent_container_mtStopping planning scene monitor[0m +110.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +110.22sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +110.22sERRORmove_groupwhat(): context cannot be slept with because it's invalid +110.22sERRORmove_groupStack trace (most recent call last) in thread 8404: +110.22sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +110.22sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3454f0fa63, in __clone +110.22sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3454e82aa3, in +110.22sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3455114db3, in +110.22sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f3455878b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +110.22sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f34554a6620, in rclcpp::Rate::sleep() +110.22sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +110.22sINFOros2_control_nodeShutdown request received....[0m +110.22sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +110.22sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +110.22sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +110.22sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +110.22sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +110.22sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +110.22sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +110.22sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +110.22sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +110.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +110.22sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +110.22sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +110.22sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +110.22sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +110.22sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +110.22sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +110.23sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +110.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +110.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +110.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +110.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +110.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +110.23sINFOros2_control_nodeShutting down the controller manager.[0m +110.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +110.23sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f34553e8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +110.23sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f34553aa087, in +110.23sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34550e3390, in __cxa_throw +110.23sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34550cda54, in std::terminate() +110.23sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34550e30d9, in +110.23sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.23sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34550cdff4, in +110.23sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3454e0e8fe, in abort +110.23sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3454e2b27d, in raise +110.23sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3454e84b2c, in pthread_kill +110.23sERRORmove_groupAborted (Signal sent by tkill() 7753 0) +110.23sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +110.23sERRORodom_qos_relay.pyTraceback (most recent call last): +110.23sINFOodom_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> +110.23sINFOodom_qos_relay.pymain() +110.23sINFOodom_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 +110.23sINFOodom_qos_relay.pyrclpy.spin(node) +110.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +110.23sINFOodom_qos_relay.pyexecutor.spin_once() +110.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +110.23sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +110.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +110.23sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +110.23sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +110.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +110.23sINFOodom_qos_relay.pyreturn next(self._cb_iter) +110.23sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +110.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +110.23sINFOodom_qos_relay.pyraise ExternalShutdownException() +110.23sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +110.23sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +110.33sINFOros2_control_nodeAsync messages lost 0[0m ×2 +110.33sINFOros2_control_nodepublish_async_failures_ 2[0m +110.34sINFOros2_control_nodepublish_async_failures_ 0[0m +110.51sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×3 +111.05sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7799] +111.05sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +111.12sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7792] +111.13sINFOui_teleop_bridge-32process has finished cleanly [pid 7797] +111.14sINFOexecute_objective_bridge-31process has finished cleanly [pid 7796] +111.14sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7791] +111.18sINFOparameter_manager_node-24process has finished cleanly [pid 7754] +111.18sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7736] +111.19sINFOwaypoint_manager_node-25process has finished cleanly [pid 7790] +111.19sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7643] +111.19sINFOstatic_transform_publisher-8process has finished cleanly [pid 7642] +111.21sINFOstatic_transform_publisher-7process has finished cleanly [pid 7641] +111.21sINFOcomponent_container_mt-30process has finished cleanly [pid 7795] +111.21sERRORlidar_flattener.pyTraceback (most recent call last): +111.21sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +111.21sINFOlidar_flattener.pymain() +111.21sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +111.21sINFOlidar_flattener.pyrclpy.spin(node) +111.21sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +111.21sINFOlidar_flattener.pyexecutor.spin_once() +111.21sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +111.21sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +111.21sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +111.21sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +111.21sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +111.21sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +111.21sINFOlidar_flattener.pyreturn next(self._cb_iter) +111.21sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +111.22sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +111.22sINFOlidar_flattener.pyraise ExternalShutdownException() +111.22sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +111.22sINFOobjective_server_node[2026-09-17 09:54:11.941] [moveit_pro_license] [info] +111.22sINFOobjective_server_node* Application has successfully terminated +111.24sINFOstatic_transform_publisher-4process has finished cleanly [pid 7638] +111.24sINFOstatic_transform_publisher-3process has finished cleanly [pid 7637] +111.27sERRORlidar_flattener.py-6process has died [pid 7640, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_zza4yivz']. +111.28sERRORodom_qos_relay.py-5process has died [pid 7639, 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']. +111.29sINFOobjective_server_node_main-28process has finished cleanly [pid 7793] +111.29sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +111.67sERRORcomponent_container_isolated-1process has died [pid 7635, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_hafuvtq1 --params-file /tmp/launch_params_c488awhk -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +112.24sINFOcomponent_container_mt-29process has finished cleanly [pid 7794] +112.54sERRORcomponent_container_isolated-2process has died [pid 7636, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_hafuvtq1 --params-file /tmp/launch_params_epdu8jtd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +112.83sINFOweb_bridge-33process has finished cleanly [pid 7798] +112.83sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +112.86sINFOros2_control_node-11process has finished cleanly [pid 7737] +118.54sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-09-54-17-568356-aea532ca8cb9-8701 ×2 +123.41sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' +123.42sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' +123.42sINFOstatic_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' +123.43sINFOstatic_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' +123.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +123.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +123.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +123.57sINFOcontroller_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. +123.61sINFOcontroller_serverCreating controller server +123.63sINFOlocal_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. +123.63sINFOlocal_costmap.local_costmapCreating Costmap +123.64sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +123.67sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +123.67sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +123.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +123.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +123.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +123.70sINFOsmoother_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. +123.71sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +123.72sINFOros2_control_node-11process started with pid [8853] ×2 +123.72sINFOmove_group-23process started with pid [8871] ×2 +123.72sINFOparameter_manager_node-24process started with pid [8875] ×2 +123.72sINFOwaypoint_manager_node-25process started with pid [8906] ×2 +123.72sINFOmove_joint_resampler_node-26process started with pid [8908] ×2 +123.72sINFOmove_end_effector_resampler_node-27process started with pid [8909] ×2 +123.72sINFOobjective_server_node_main-28process started with pid [8910] ×2 +123.72sINFOcomponent_container_mt-29process started with pid [8911] ×2 +123.72sINFOcomponent_container_mt-30process started with pid [8913] ×2 +123.72sINFOexecute_objective_bridge-31process started with pid [8914] ×2 +123.72sINFOui_teleop_bridge-32process started with pid [8915] ×2 +123.72sINFOweb_bridge-33process started with pid [8920] ×2 +123.72sINFOtf2_web_republisher_node-34process started with pid [8921] ×2 +123.72sINFOvideo_server-35process started with pid [8922] ×2 +123.72sINFOweb_bridge_auth_proxy-36process started with pid [8927] ×2 +123.72sINFOweb_video_auth_proxy-37process started with pid [8930] ×2 +123.72sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +123.72sINFOcomponent_container_isolated-1process started with pid [8751] ×2 +123.72sINFOcomponent_container_isolated-2process started with pid [8752] ×2 +123.72sINFOstatic_transform_publisher-3process started with pid [8753] ×2 +123.72sINFOstatic_transform_publisher-4process started with pid [8754] ×2 +123.72sINFOodom_qos_relay.py-5process started with pid [8755] ×2 +123.72sINFOlidar_flattener.py-6process started with pid [8756] ×2 +123.72sINFOstatic_transform_publisher-7process started with pid [8757] ×2 +123.72sINFOstatic_transform_publisher-8process started with pid [8758] ×2 +123.72sINFOscan_to_scan_filter_chain-9process started with pid [8759] ×2 +123.72sINFOscan_to_scan_filter_chain-10process started with pid [8852] ×2 +123.72sINFOros2-12process started with pid [8854] ×2 +123.72sINFOros2-13process started with pid [8857] ×2 +123.72sINFOros2-14process started with pid [8858] ×2 +123.72sINFOros2-15process started with pid [8859] ×2 +123.72sINFOros2-16process started with pid [8860] ×2 +123.72sINFOros2-17process started with pid [8863] ×2 +123.72sINFOros2-18process started with pid [8864] ×2 +123.72sINFOros2-19process started with pid [8865] ×2 +123.72sINFOros2-20process started with pid [8866] ×2 +123.72sINFOros2-21process started with pid [8867] ×2 +123.72sINFOros2-22process started with pid [8868] ×2 +123.74sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +123.74sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +123.74sINFOsmoother_serverCreating smoother server +123.75sINFOcontroller_managerupdate rate is 600 Hz +123.75sINFOcontroller_managerOverruns handling is : enabled +123.75sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +123.76sWARNcontroller_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. +123.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +123.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +123.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +123.78sINFOplanner_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. +123.82sINFOplanner_serverCreating +123.86sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +123.86sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +123.86sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +123.86sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +123.87sINFOglobal_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. +123.87sINFOglobal_costmap.global_costmapCreating Costmap +123.88sINFOmap_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. +123.88sINFOmap_serverCreating +123.89sINFOvideo_server2026/09/17 09:54:24 INF MediaMTX v1.20.1, linux, amd64 ×2 +123.89sINFOvideo_server2026/09/17 09:54:24 INF configuration loaded from /tmp/moveit-webrtc-agffz8np/mediamtx.yml ×2 +123.89sINFOvideo_server2026/09/17 09:54:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +123.89sINFOvideo_server2026/09/17 09:54:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +123.90sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +123.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +123.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +123.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +123.90sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +123.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +123.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +123.93sINFObehavior_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. +123.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +123.99sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +123.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +123.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.00sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.02sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.03sINFOlifecycle_manager_localizationCreating +124.04sINFObt_navigatorCreating +124.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +124.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.06sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.07sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +124.07sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +124.07sINFOmap_serverConfiguring +124.07sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.08sINFOwaypoint_followerCreating +124.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +124.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.12sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.14sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +124.15sINFOlifecycle_manager_navigationCreating +124.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.045285 ms (missed cycles : 9). +124.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.045285 ms (missed cycles : 9).[0m ×2 +124.17sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.19sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +124.19sINFOamclConfiguring +124.19sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +124.19sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +124.19sINFOcontroller_serverConfiguring controller interface +124.19sINFOcontroller_servergetting progress checker plugins.. +124.19sINFOcontroller_servergetting goal checker plugins.. +124.19sINFOcontroller_serverController frequency set to 20.0000Hz +124.19sINFOlocal_costmap.local_costmapConfiguring +124.20sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +124.20sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +124.20sINFOmap_serverActivating +124.20sINFOmap_serverCreating bond (map_server) to lifecycle manager. +124.24sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +124.29sINFOrobot_state_publisherRobot initialized +124.30sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +124.30sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +124.30sINFOcontroller_managerReceived robot description from topic. +124.30sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +124.30sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +124.32sINFOlifecycle_manager_localizationServer map_server connected with bond. +124.32sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +124.32sINFOamclActivating +124.32sINFOamclSubscribed to initial_pose_topic: /initialpose +124.32sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +124.32sINFOamclSubscribed to map_topic: /map +124.33sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +124.33sINFOamclSubscribed to scan_topic: /scan_merged +124.33sINFOamclCreated reinitialize_global_localization service +124.34sINFOamclCreated request_nomotion_update service +124.34sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +124.34sINFOcontroller_serverController Server has progress_checker progress checkers available. +124.34sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +124.34sINFOamclA new map was received +124.34sINFOamclInitializing particle filter instance +124.35sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +124.35sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +124.37sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +124.37sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +124.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.39sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +124.39sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +124.39sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.40sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +124.40sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +124.40sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +124.40sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +124.41sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +124.41sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +124.41sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +124.41sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +124.42sWARNlaser_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. +124.43sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +124.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +124.44sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +124.45sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +124.45sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +124.47sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +124.47sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +124.47sINFOcontroller_serverOptimizer reset ×2 +124.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +124.50sINFOcontroller_serverController Server has FollowPath controllers available. +124.52sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +124.53sINFOsmoother_serverConfiguring smoother server +124.53sWARNlaser_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. +124.55sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +124.55sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +124.57sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +124.57sINFOplanner_serverConfiguring +124.57sINFOglobal_costmap.global_costmapConfiguring +124.59sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +124.61sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +124.61sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +124.61sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +124.63sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +124.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +124.66sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +124.66sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +124.68sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +124.81sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +124.81sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +124.81sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +124.83sINFOplanner_serverPlanner Server has GridBased planners available. +124.87sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +124.87sINFObehavior_serverConfiguring +124.88sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +124.89sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +124.90sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +124.90sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.654715 seconds +124.90sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +124.90sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +124.90sINFOmove_groupLoaded robot model in 0.654715 seconds[0m ×2 +124.91sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +124.93sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +124.94sINFObehavior_serverConfiguring spin +124.95sINFObehavior_serverConfiguring backup +124.96sINFObehavior_serverConfiguring drive_on_heading +124.97sINFObehavior_serverConfiguring assisted_teleop +124.98sINFObehavior_serverConfiguring wait +124.99sINFOamclParticle filter initialization completed +124.99sINFOamclInitializing particles from estimated pose and covariance +124.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +124.99sINFOamclThe bond connection to the lifecycle manager is now fully formed +124.99sINFOlifecycle_manager_localizationServer amcl connected with bond. +124.99sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +124.99sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +125.00sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +125.00sINFObt_navigatorConfiguring +125.01sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +125.02sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +125.14sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +125.17sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +125.17sINFOwaypoint_followerConfiguring +125.18sINFOwaypoint_manager_nodeLoaded robot model in 0.415246 seconds[0m ×2 +125.19sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +125.20sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +125.20sINFOvelocity_smootherConfiguring velocity smoother +125.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714826 ms (missed cycles : 2). +125.20sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +125.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714826 ms (missed cycles : 2).[0m ×2 +125.20sINFOcontroller_serverActivating +125.20sINFOlocal_costmap.local_costmapActivating +125.20sINFOlocal_costmap.local_costmapChecking transform +125.20sINFOlocal_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. ×6 +125.47sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.53sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +125.53sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +125.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sINFOmove_group[2026-09-17 09:54:26.443] [moveit_pro_license] [info] ×2 +125.89sINFOwaypoint_manager_node[2026-09-17 09:54:26.611] [moveit_pro_license] [info] ×2 +126.11sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +126.11sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +126.12sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +126.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +126.12sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +126.12sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +126.12sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +126.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +126.13sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +126.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +126.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +126.34sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +126.34sINFOcontroller_managerActivating component 'ur_mujoco_control'. +126.34sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +126.35sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +126.39sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +126.39sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +126.40sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +126.40sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +126.42sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +126.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +126.43sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +126.43sINFOcontroller_managerSuccessfully switched controllers! ×20 +126.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +126.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243045 ms (missed cycles : 2). +126.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243045 ms (missed cycles : 2).[0m ×2 +126.72sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.72sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +126.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +126.73sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +126.75sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +126.76sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +126.76sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +126.76sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +126.76sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +126.76sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +126.76sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +126.77sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +126.77sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +126.77sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +126.77sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +126.77sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +126.78sINFOros2-13process has finished cleanly [pid 8857] ×2 +126.87sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +126.87sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +126.92sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +126.92sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +126.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +126.98sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.00sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +127.01sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +127.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +127.26sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +127.38sINFOros2_control_node[2026-09-17 09:54:28.094] [info] Controller state will be published at 20 Hz. ×2 +127.38sINFOros2_control_node[2026-09-17 09:54:28.095] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.68sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +127.68sINFOcontroller_managerLoading controller 'vacuum_gripper' +127.68sINFOobjective_server_node[2026-09-17 09:54:28.401] [moveit_pro_license] [info] ×2 +127.68sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +127.69sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +127.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107774 ms (missed cycles : 2). +127.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107774 ms (missed cycles : 2).[0m ×2 +127.71sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +127.73sINFOros2-22process has finished cleanly [pid 8868] ×2 +127.75sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +127.75sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +127.75sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +127.75sINFOobjective_server_nodeLoaded robot model in 0.0238362 seconds[0m ×2 +127.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +127.77sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.91sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +128.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +128.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +128.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +128.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +128.10sINFOmove_groupMoveGroup debug mode is ON +128.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +128.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +128.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +128.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +128.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +128.17sINFOros2-16process has finished cleanly [pid 8860] ×2 +128.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +128.18sWARNros2_control_nodeCamera render tick took 0.67 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +128.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +128.20sINFOlocal_costmap.local_costmapstart +128.23sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.23sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.27sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+128.29sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.29sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.31sWARNcontroller_serverParameter controller_server.verbose not found +128.31sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +128.41sINFOlifecycle_manager_navigationServer controller_server connected with bond. +128.41sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +128.42sINFOsmoother_serverActivating +128.42sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +128.47sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +128.47sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +128.47sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +128.47sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +128.51sINFOcomponent_container_mtLoaded robot model in 0.382856 seconds[0m ×2 +128.52sINFOros2-14process has finished cleanly [pid 8858] ×2 +128.52sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +128.52sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +128.52sINFOplanner_serverActivating +128.52sINFOglobal_costmap.global_costmapActivating +128.52sINFOglobal_costmap.global_costmapChecking transform +128.52sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. +128.53sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789638868.223 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +128.53sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +128.53sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +128.54sINFOplatform_velocity_controller_nav2configure successful +128.59sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +128.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698032 ms (missed cycles : 3). +128.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698032 ms (missed cycles : 3).[0m ×2 +128.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 +128.89sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +128.89sINFOcontroller_managerLoading controller 'velocity_force_controller' +128.90sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 5.619ms +128.92sINFOros2-17process has finished cleanly [pid 8863] ×2 +129.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +129.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +129.02sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.02sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789638869.711052, but only time 1789638869.982838 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +129.02sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.02sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.02sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.02sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.03sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.04sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +129.07sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +129.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +129.21sINFOcomponent_container_mt[2026-09-17 09:54:29.922] [moveit_pro_license] [info] ×2 +129.25sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789638868.223 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.52sINFOglobal_costmap.global_costmapstart +129.59sINFOros2_control_node[2026-09-17 09:54:30.305] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +129.59sINFOros2_control_node[2026-09-17 09:54:30.308] [info] Controller state will be published at 10 Hz. ×2 +129.59sINFOros2_control_node[2026-09-17 09:54:30.309] [info] VelocityForceController 'on_configure' succeeded. ×2 +129.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272037 ms (missed cycles : 4). +129.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272037 ms (missed cycles : 4).[0m ×2 +129.91sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +129.91sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +129.91sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +129.91sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +129.95sINFOros2-19process has finished cleanly [pid 8865] ×2 +129.97sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +129.97sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +130.45sINFOros2_control_node[2026-09-17 09:54:31.165] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +130.45sINFOros2_control_node[2026-09-17 09:54:31.166] [info] Controller state will be published at 10 Hz. ×2 +130.45sINFOros2_control_node[2026-09-17 09:54:31.167] [info] VelocityForceController 'on_configure' succeeded. ×2 +130.57sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +130.57sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +130.68sINFOlifecycle_manager_navigationServer planner_server connected with bond. +130.68sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +130.68sINFObehavior_serverActivating +130.68sINFObehavior_serverActivating spin +130.68sINFObehavior_serverActivating backup +130.68sINFObehavior_serverActivating drive_on_heading +130.68sINFObehavior_serverActivating assisted_teleop +130.68sINFObehavior_serverActivating wait +130.68sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +130.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +130.77sINFOcontroller_managerLoading controller 'platform_velocity_controller' +130.77sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +130.77sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +130.78sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +130.78sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +130.78sINFObt_navigatorActivating +130.83sINFOros2-20process has finished cleanly [pid 8866] ×2 +130.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468572 ms (missed cycles : 3). +130.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468572 ms (missed cycles : 3).[0m ×2 +130.86sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +130.86sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +130.87sINFOplatform_velocity_controllerconfigure successful +130.87sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +130.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +130.88sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +130.97sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +130.97sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +130.97sINFOwaypoint_followerActivating +130.97sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +131.08sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +131.08sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +131.08sINFOvelocity_smootherActivating +131.08sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +131.17sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +131.17sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +131.17sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +131.17sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +131.18sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +131.18sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +131.18sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +131.22sINFOros2-15process has finished cleanly [pid 8859] ×2 +131.24sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +131.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +131.24sINFOforce_torque_sensor_broadcasterconfigure successful +131.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +131.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +131.55sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +131.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +131.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +131.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +131.60sINFOros2-12process has finished cleanly [pid 8854] ×2 +131.66sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +131.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +131.67sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +131.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +131.67sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +131.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +131.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +131.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399332 ms (missed cycles : 2). +131.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399332 ms (missed cycles : 2).[0m ×2 +131.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +131.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' +131.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 +131.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jy5mmd8n --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_p8ixi5a6 --params-file /tmp/launch_params_uvx481l0 [0m ×2 +131.99sINFOros2-18process has finished cleanly [pid 8864] ×2 +131.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +132.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +132.49sINFOros2_control_node[2026-09-17 09:54:33.208] [info] Controller state will be published at 20 Hz. ×2 +132.49sINFOros2_control_node[2026-09-17 09:54:33.209] [info] JointVelocityController 'on_configure' succeeded. ×2 +132.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +132.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +132.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +132.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +132.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +132.83sINFOros2-21process has finished cleanly [pid 8867] ×2 +132.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503336 ms (missed cycles : 3). +132.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503336 ms (missed cycles : 3).[0m ×2 +133.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704669 ms (missed cycles : 2). +133.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704669 ms (missed cycles : 2).[0m ×2 +135.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). +135.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 +136.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). +136.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 +137.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). +137.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 +137.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +137.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +137.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +137.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 +138.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 +138.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). +138.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 +138.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 +139.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). +139.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 +139.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +139.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +139.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 +140.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+140.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +140.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +140.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +140.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +140.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). +140.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 20 warnings · 312 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840039 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 1.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.66sINFOmove_groupClearing octomap...[0m ×4 + 2.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×4 + 2.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980837 ms (missed cycles : 5).[0m ×2 + 0.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121634 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.52sINFOobjective_server_nodecaller: ×10 + 1.52sINFOobjective_server_nodetype: 0 ×10 + 1.52sINFOobjective_server_nodename: "" ×10 + 1.52sINFOobjective_server_nodeinstance_id: "" ×10 + 1.52sINFOobjective_server_node ×10 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638878.48572803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.56sINFOmove_groupClearing octomap...[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638878.49595141 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638879.07516932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638879.08529186 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980200 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638879.66238761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638879.81319332 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309522 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638880.41651416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638880.47664714 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789638881.05029559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679123 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959087 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887836 ms (missed cycles : 2).[0m ×2 | ||||