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 | Move to Look at Plane | move_to_look_at_plane.xml | 1.4s | 30 errors · 43 warnings · 275 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 0.33sINFOjoint_trajectory_controllerGoal reached, success! + 0.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 0.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.90sINFOobjective_server_nodecaller: ×10 + 0.90sINFOobjective_server_nodetype: 0 ×10 + 0.90sINFOobjective_server_nodename: "" ×10 + 0.90sINFOobjective_server_nodeinstance_id: "" ×10 + 0.90sINFOobjective_server_node ×10 + 0.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.02sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 1.67sWARNobjective_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 + 1.67sERRORobjective_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 + 1.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sWARNros2_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 ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 4.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 + 5.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664946.33591557 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.47sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664946.94676208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789664947.70693851 seconds ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.4s | 6 errors · 29 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188097 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188097 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724764 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724764 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783464 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783464 ms (missed cycles : 2).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649854 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649854 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789664957.81842518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sWARNobjective_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 + 4.42sWARNros2_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 + 4.42sERRORobjective_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 + 4.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789664958.58859992 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026641 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026641 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 5.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789664959.21351385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826507 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826507 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038148 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038148 ms (missed cycles : 3).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 32 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 0.92sINFOjoint_trajectory_controllerGoal reached, success! + 0.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.47sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.47sINFOobjective_server_nodecaller: ×6 + 1.47sINFOobjective_server_nodetype: 0 ×6 + 1.47sINFOobjective_server_nodename: "" ×6 + 1.47sINFOobjective_server_nodeinstance_id: "" ×6 + 1.47sINFOobjective_server_node ×6 + 1.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_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 + 2.26sERRORobjective_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 + 2.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.24sINFOmove_groupClearing octomap...[0m ×2 + 4.24sINFOmove_groupOctomap cleared.[0m ×2 + 4.25sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.25sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5).[0m ×2 + 6.44sWARNros2_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 + 6.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664971.00476813 seconds ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 40 warnings · 276 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.18sINFOobjective_server_nodecaller: ×10 + 2.18sINFOobjective_server_nodetype: 0 ×10 + 2.18sINFOobjective_server_nodename: "" ×10 + 2.18sINFOobjective_server_nodeinstance_id: "" ×10 + 2.18sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.30sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 2.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.95sERRORobjective_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 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sWARNros2_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 ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 4.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 + 7.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664946.33591557 seconds ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2).[0m ×2 + 7.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664946.94676208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.3s | 12 errors · 30 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 43 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: 1789664942.14686775 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 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 1.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.27sWARNros2_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 ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 + 4.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664946.33591557 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664946.94676208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789664947.70693851 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340141 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340141 ms (missed cycles : 3).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269739 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269739 ms (missed cycles : 4).[0m ×2 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 18 errors · 37 warnings · 225 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.841ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.15sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.15sINFOobjective_server_nodecaller: ×8 + 3.15sINFOobjective_server_nodetype: 0 ×8 + 3.15sINFOobjective_server_nodename: "" ×8 + 3.15sINFOobjective_server_nodeinstance_id: "" ×8 + 3.15sINFOobjective_server_node ×8 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.27sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 3.92sWARNobjective_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 + 3.92sERRORobjective_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 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.19sWARNros2_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 ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 5.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 6.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 7.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 145 warnings · 389 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.62sINFOobjective_server_nodecaller: ×12 + 0.62sINFOobjective_server_nodetype: 0 ×12 + 0.62sINFOobjective_server_nodename: "" ×12 + 0.62sINFOobjective_server_nodeinstance_id: "" ×12 + 0.62sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.66sINFOmove_groupClearing octomap...[0m ×4 + 0.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.66sINFOmove_groupOctomap cleared.[0m ×4 + 0.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_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 + 2.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 5.44sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331081 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331081 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352253 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352253 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290527 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290527 ms (missed cycles : 3).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429605 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429605 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641154 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641154 ms (missed cycles : 2).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076682 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076682 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629160 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629160 ms (missed cycles : 3).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303841 ms (missed cycles : 4). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303841 ms (missed cycles : 4).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966713 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966713 ms (missed cycles : 2).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753219 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753219 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300125 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300125 ms (missed cycles : 3).[0m ×2 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558095 ms (missed cycles : 3). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558095 ms (missed cycles : 3).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388746 ms (missed cycles : 3). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388746 ms (missed cycles : 3).[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858011 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858011 ms (missed cycles : 2).[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288259 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288259 ms (missed cycles : 2).[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254294 ms (missed cycles : 4). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254294 ms (missed cycles : 4).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059231 ms (missed cycles : 2). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059231 ms (missed cycles : 2).[0m ×2 + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272968 ms (missed cycles : 4). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272968 ms (missed cycles : 4).[0m ×2 + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090539 ms (missed cycles : 3). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090539 ms (missed cycles : 3).[0m ×2 + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817578 ms (missed cycles : 5). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817578 ms (missed cycles : 5).[0m ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752038 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752038 ms (missed cycles : 3).[0m ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669655 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669655 ms (missed cycles : 2).[0m ×2 + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155804 ms (missed cycles : 4). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155804 ms (missed cycles : 4).[0m ×2 + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171908 ms (missed cycles : 2). + 31.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171908 ms (missed cycles : 2).[0m ×2 + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808909 ms (missed cycles : 3). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808909 ms (missed cycles : 3).[0m ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480065 ms (missed cycles : 2). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480065 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114734 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114734 ms (missed cycles : 2).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932582 ms (missed cycles : 4). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932582 ms (missed cycles : 4).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159441 ms (missed cycles : 3). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159441 ms (missed cycles : 3).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977740 ms (missed cycles : 3). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977740 ms (missed cycles : 3).[0m ×2 + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945506 ms (missed cycles : 2). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945506 ms (missed cycles : 2).[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139563 ms (missed cycles : 4). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139563 ms (missed cycles : 4).[0m ×2 + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194697 ms (missed cycles : 2). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194697 ms (missed cycles : 2).[0m ×2 + 42.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512795 ms (missed cycles : 2). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512795 ms (missed cycles : 2).[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2).[0m ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2).[0m ×2 + 45.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2). + 45.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2).[0m ×2 + 46.26sINFOjoint_trajectory_controllerGoal reached, success! + 46.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789664934.67137647 seconds ×3 + 46.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2).[0m ×2 + 46.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.84sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789664935.26022482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3).[0m ×2 + 48.00sINFOobjective_server_nodeFound path in 0 iterations (2.2891e-05 s). ×2 + 48.07sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2).[0m ×2 + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2). + 49.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2).[0m ×2 + 49.87sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.841ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 108 errors · 37 warnings · 510 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.59sINFOobjective_server_nodecaller: ×4 + 0.59sINFOobjective_server_nodetype: 0 ×4 + 0.59sINFOobjective_server_nodename: "" ×4 + 0.59sINFOobjective_server_nodeinstance_id: "" ×4 + 0.59sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.63sINFOmove_groupClearing octomap...[0m ×2 + 0.63sINFOmove_groupOctomap cleared.[0m ×2 + 0.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5).[0m ×2 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664971.00476813 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664971.58173561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789664972.39187384 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184533 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184533 ms (missed cycles : 3).[0m ×2 + 4.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432969 ms (missed cycles : 4). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432969 ms (missed cycles : 4).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552695 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552695 ms (missed cycles : 3).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050649 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050649 ms (missed cycles : 2).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671193 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671193 ms (missed cycles : 3).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011366 ms (missed cycles : 4). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011366 ms (missed cycles : 4).[0m ×2 + 10.24sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.29sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.29sERRORweb_video_auth_proxy-38process has died [pid 11036, 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 + 10.29sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.30sERRORweb_bridge_auth_proxy-37process has died [pid 11035, 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 + 10.30sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.31sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.32sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.33sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.34sINFOvideo_server-36process has finished cleanly [pid 11032] ×2 + 10.34sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.35sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.36sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.38sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.39sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.40sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.41sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.42sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.44sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.44sINFOcontroller_managerShutdown request received.... + 10.44sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.44sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.44sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.44sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.44sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.44sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.44sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.44sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.44sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.44sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.44sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.44sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.44sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.44sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.44sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.44sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.44sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.44sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.45sINFOcontroller_managerShutting down the controller manager. + 10.46sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 10.47sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.48sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.48sERRORmove_group-24process has died [pid 10955, 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_uojryy3v --params-file /tmp/launch_params_q2jox924 --params-file /tmp/launch_params_vliddf8_ --params-file /tmp/launch_params_uog1osgj --params-file /tmp/launch_params_z1o0x1wb --params-file /tmp/launch_params_wsf_sht9']. ×2 + 10.49sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.50sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.51sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.52sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.53sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.54sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.55sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.55sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.55sINFOmap_serverDeactivating + 10.55sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.56sINFOmap_serverCleaning up + 10.56sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.56sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.56sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.56sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.56sINFOcontroller_serverDeactivating + 10.56sINFOlocal_costmap.local_costmapDeactivating + 10.56sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.56sINFOvideo_server2026/09/17 17:09:38 INF shutting down gracefully ×2 + 10.56sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOvideo_server2026/09/17 17:09:38 INF [WebRTC] closing ×2 + 10.56sINFOvideo_server2026/09/17 17:09:38 INF [RTSP] closing ×2 + 10.56sINFOvideo_server2026/09/17 17:09:38 INF waiting for running hooks ×2 + 10.57sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.57sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.57sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.57sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.57sERRORmove_groupStack trace (most recent call last) in thread 11624: ×2 + 10.57sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.57sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f687c3eaa63, in __clone ×2 + 10.57sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f687c35daa3, in ×2 + 10.57sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f687c5efdb3, in ×2 + 10.57sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f687cd53b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.57sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f687c981620, in rclcpp::Rate::sleep() ×2 + 10.57sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f687c8c3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.57sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f687c885087, in ×2 + 10.57sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f687c5be390, in __cxa_throw ×2 + 10.57sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.57sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.57sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f687c5a8a54, in std::terminate() ×2 + 10.57sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f687c5be0d9, in ×2 + 10.57sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f687c5a8ff4, in ×2 + 10.57sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f687c2e98fe, in abort ×2 + 10.57sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f687c30627d, in raise ×2 + 10.57sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f687c35fb2c, in pthread_kill ×2 + 10.57sERRORmove_groupAborted (Signal sent by tkill() 10955 0) ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.57sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.57sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.57sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.57sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.57sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.58sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.58sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 10.58sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.58sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.58sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.58sINFOodom_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 + 10.58sINFOodom_qos_relay.pymain() ×2 + 10.58sINFOodom_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 + 10.58sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.58sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.58sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.58sERRORamclThe bond connection to the lifecycle manager has been broken + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.58sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.58sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.58sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.58sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.58sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.58sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.58sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.59sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.64sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.65sINFOcontroller_serverCleaning up + 10.65sINFOlocal_costmap.local_costmapCleaning up + 10.66sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.66sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.66sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.70sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.70sINFOsmoother_serverDeactivating + 10.70sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.71sINFOsmoother_serverCleaning up + 10.73sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.73sINFOplanner_serverDeactivating + 10.73sINFOglobal_costmap.global_costmapDeactivating + 10.79sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.80sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.80sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.80sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.80sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.80sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.80sINFOvelocity_smootherDeactivating + 10.80sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.91sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.91sINFOwaypoint_followerDeactivating + 10.91sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.03sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.03sINFObt_navigatorDeactivating + 11.03sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.14sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.14sINFObehavior_serverDeactivating + 11.14sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.25sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.25sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.25sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.25sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.25sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.26sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.26sINFOvelocity_smootherCleaning up + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.26sINFOwaypoint_followerCleaning up + 11.29sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.29sINFObt_navigatorCleaning up + 11.36sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.36sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.37sINFOplanner_serverCleaning up + 11.37sINFOtf2_web_republisher_node-35process has finished cleanly [pid 11030] ×2 + 11.37sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.39sINFOglobal_costmap.global_costmapCleaning up + 11.40sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.40sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.43sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.43sINFObehavior_serverCleaning up + 11.44sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 11005] ×2 + 11.44sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.44sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.44sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.44sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.45sINFOmove_joint_resampler_node-27process has finished cleanly [pid 11004] ×2 + 11.46sINFOui_teleop_bridge-33process has finished cleanly [pid 11028] ×2 + 11.47sINFOexecute_objective_bridge-32process has finished cleanly [pid 11027] ×2 + 11.47sINFObt_navigatorCompleted Cleaning up + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.49sINFOparameter_manager_node-25process has finished cleanly [pid 11002] ×2 + 11.52sINFOwaypoint_manager_node-26process has finished cleanly [pid 11003] ×2 + 11.52sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 10935] ×2 + 11.52sINFOcomponent_container_mt-31process has finished cleanly [pid 11026] ×2 + 11.53sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.53sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.53sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.53sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.53sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 10842] ×2 + 11.53sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 10936] ×2 + 11.54sINFOstatic_transform_publisher-8process has finished cleanly [pid 10841] ×2 + 11.54sINFOstatic_transform_publisher-7process has finished cleanly [pid 10840] ×2 + 11.55sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.55sINFOlidar_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 + 11.55sINFOlidar_flattener.pymain() ×2 + 11.55sINFOlidar_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 + 11.55sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.55sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.55sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.55sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.55sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.55sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.55sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.55sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.55sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.58sINFOstatic_transform_publisher-3process has finished cleanly [pid 10836] ×2 + 11.59sINFOobjective_server_node[2026-09-17 17:09:39.312] [moveit_pro_license] [info] ×2 + 11.59sINFOobjective_server_node************************************************* ×4 + 11.59sINFOobjective_server_node* MoveIt Pro License ×2 + 11.59sINFOobjective_server_node* Application has successfully terminated ×2 + 11.60sERRORlidar_flattener.py-6process has died [pid 10839, 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_x5b5cehv']. ×2 + 11.62sERRORodom_qos_relay.py-5process has died [pid 10838, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.65sINFOobjective_server_node_main-29process has finished cleanly [pid 11007] ×2 + 11.65sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.80sERRORcomponent_container_isolated-1process has died [pid 10834, 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_1250py61 --params-file /tmp/launch_params_9tn1s1ru -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.56sINFOodom_world_drift-4process has finished cleanly [pid 10837] ×2 + 12.57sINFOcomponent_container_mt-30process has finished cleanly [pid 11017] ×2 + 12.88sERRORcomponent_container_isolated-2process has died [pid 10835, 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_1250py61 --params-file /tmp/launch_params_4og4g3gh -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.11sINFOweb_bridge-34process has finished cleanly [pid 11029] ×2 + 13.11sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.19sINFOros2_control_node-12process has finished cleanly [pid 10937] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 30 errors · 72 warnings · 273 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 0.19sWARNobjective_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 + 0.20sERRORobjective_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. ×15 + 0.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.20sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664946.33591557 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664946.94676208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789664947.70693851 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340141 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340141 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269739 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269739 ms (missed cycles : 4).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077521 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077521 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171771 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171771 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207907 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207907 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188097 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188097 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724764 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724764 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783464 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783464 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649854 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649854 ms (missed cycles : 3).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789664957.81842518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sWARNros2_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 + 15.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789664958.58859992 seconds ×3 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026641 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026641 ms (missed cycles : 2).[0m ×2 + 15.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.77sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789664959.21351385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.28sINFOjoint_trajectory_controllerReceived new action goal + 16.28sINFOjoint_trajectory_controllerAccepted new action goal + 16.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826507 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826507 ms (missed cycles : 2).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038148 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038148 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 50 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724764 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724764 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783464 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783464 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649854 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649854 ms (missed cycles : 3).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.40sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.40sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.40sINFOobjective_server_nodecaller: ×10 + 2.40sINFOobjective_server_nodetype: 0 ×10 + 2.40sINFOobjective_server_nodename: "" ×10 + 2.40sINFOobjective_server_nodeinstance_id: "" ×10 + 2.40sINFOobjective_server_node ×10 + 2.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789664957.81842518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.20sWARNobjective_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. ×9 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789664958.58859992 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026641 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026641 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789664959.21351385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826507 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826507 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038148 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038148 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 9.64sINFOjoint_trajectory_controllerGoal reached, success! + 9.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 10.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 10.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 11.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.56sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 12.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 12.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.93sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.97sINFOmove_groupClearing octomap...[0m ×2 + 12.97sINFOmove_groupOctomap cleared.[0m ×2 + 12.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.98sINFOcomponent_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 · 49 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789664934.67137647 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.39sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.39sINFOobjective_server_nodecaller: ×8 + 3.39sINFOobjective_server_nodetype: 0 ×8 + 3.39sINFOobjective_server_nodename: "" ×8 + 3.39sINFOobjective_server_nodeinstance_id: "" ×8 + 3.39sINFOobjective_server_node ×8 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789664935.26022482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.2891e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.841ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 7.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 8.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 9.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 9.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.67sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 10.32sWARNobjective_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 + 10.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 10.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 10.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.96sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 11.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.56sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.59sWARNros2_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 ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 11.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 12.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.33sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.2s | 12 errors · 38 warnings · 221 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 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 ×6 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 1.34sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.34sERRORobjective_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 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 2.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664971.00476813 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.52sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664971.58173561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789664972.39187384 seconds ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184533 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184533 ms (missed cycles : 3).[0m ×2 + 7.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432969 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432969 ms (missed cycles : 4).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552695 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552695 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 23 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.62sINFOobjective_server_nodecaller: ×10 + 0.62sINFOobjective_server_nodetype: 0 ×10 + 0.62sINFOobjective_server_nodename: "" ×10 + 0.62sINFOobjective_server_nodeinstance_id: "" ×10 + 0.62sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.66sINFOmove_groupClearing octomap...[0m ×4 + 0.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.66sINFOmove_groupOctomap cleared.[0m ×4 + 0.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_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 + 2.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 5.44sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331081 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331081 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789664934.67137647 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789664935.26022482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.2891e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.841ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718082 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071479 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580168 ms (missed cycles : 2).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789664934.67137647 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842689 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789664935.26022482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124944 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.2891e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712679 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.841ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 23 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_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 + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.88sINFOobjective_server_nodecaller: ×10 + 2.88sINFOobjective_server_nodetype: 0 ×10 + 2.88sINFOobjective_server_nodename: "" ×10 + 2.88sINFOobjective_server_nodeinstance_id: "" ×10 + 2.88sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 12 errors · 31 warnings · 172 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.841ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.27sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 3.92sWARNobjective_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 + 3.92sERRORobjective_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 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.19sWARNros2_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 ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 5.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 34 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.30sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 2.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.95sERRORobjective_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 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sWARNros2_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 ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 4.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 34 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.30sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 2.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.95sERRORobjective_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 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sWARNros2_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 ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 4.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 34 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.30sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 2.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.95sERRORobjective_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 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sWARNros2_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 ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 4.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 34 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.30sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 2.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.95sERRORobjective_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 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sWARNros2_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 ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 4.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 34 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429747 ms (missed cycles : 4).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069214 ms (missed cycles : 3).[0m ×2 + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664940.83035660 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664941.41664124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.30sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.477ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016024 ms (missed cycles : 3).[0m ×2 + 2.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.95sERRORobjective_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 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664942.14686775 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.22sWARNros2_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 ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 4.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 37 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: 1789664942.14686775 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 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 1.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.27sWARNros2_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 ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 + 4.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664946.33591557 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664946.94676208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789664947.70693851 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 37 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: 1789664942.14686775 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 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 1.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.27sWARNros2_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 ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 + 4.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664946.33591557 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664946.94676208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789664947.70693851 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 37 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: 1789664942.14686775 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 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841015 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664942.82738900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 1.25sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.27sWARNros2_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 ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965386 ms (missed cycles : 3).[0m ×2 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664943.58756089 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664944.19523835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590474 ms (missed cycles : 3).[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664944.97541881 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664945.58571935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470258 ms (missed cycles : 5).[0m ×2 + 4.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664946.33591557 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891571 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664946.94676208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789664947.70693851 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204629 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 23 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_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 + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.88sINFOobjective_server_nodecaller: ×10 + 2.88sINFOobjective_server_nodetype: 0 ×10 + 2.88sINFOobjective_server_nodename: "" ×10 + 2.88sINFOobjective_server_nodeinstance_id: "" ×10 + 2.88sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 23 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_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 + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.88sINFOobjective_server_nodecaller: ×10 + 2.88sINFOobjective_server_nodetype: 0 ×10 + 2.88sINFOobjective_server_nodename: "" ×10 + 2.88sINFOobjective_server_nodeinstance_id: "" ×10 + 2.88sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_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 · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_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 · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_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 · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649135 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262035 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261711 ms (missed cycles : 5).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 + 4.37sERRORobjective_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 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.35sINFOmove_groupClearing octomap...[0m ×2 + 6.35sINFOmove_groupOctomap cleared.[0m ×2 + 6.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.36sINFOcomponent_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 |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664965.02367091 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157488 ms (missed cycles : 4).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664965.61559033 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 ×6 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206211 ms (missed cycles : 2).[0m ×2 + 1.34sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.34sERRORobjective_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 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664966.36578608 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664966.98271275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753297 ms (missed cycles : 3).[0m ×2 + 2.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664967.73292327 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261885 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664968.34463239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984894 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262122 ms (missed cycles : 5).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664971.00476813 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942499 ms (missed cycles : 2).[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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.8s | 77 errors · 514 warnings · 2525 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/2026-09-17-17-05-48-742467-71bfc96d23bd-7624 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.25sINFOros2_control_node-12process started with pid [7777] + 5.25sINFOmove_group-24process started with pid [7789] + 5.25sINFOparameter_manager_node-25process started with pid [7840] + 5.25sINFOwaypoint_manager_node-26process started with pid [7841] + 5.25sINFOmove_joint_resampler_node-27process started with pid [7842] + 5.25sINFOmove_end_effector_resampler_node-28process started with pid [7843] + 5.25sINFOobjective_server_node_main-29process started with pid [7844] + 5.25sINFOcomponent_container_mt-30process started with pid [7845] + 5.25sINFOcomponent_container_mt-31process started with pid [7846] + 5.25sINFOexecute_objective_bridge-32process started with pid [7847] + 5.25sINFOui_teleop_bridge-33process started with pid [7858] + 5.25sINFOweb_bridge-34process started with pid [7864] + 5.25sINFOtf2_web_republisher_node-35process started with pid [7865] + 5.25sINFOvideo_server-36process started with pid [7867] + 5.25sINFOweb_bridge_auth_proxy-37process started with pid [7868] + 5.25sINFOweb_video_auth_proxy-38process started with pid [7872] + 5.26sINFOcomponent_container_isolated-1process started with pid [7674] + 5.26sINFOcomponent_container_isolated-2process started with pid [7675] + 5.26sINFOstatic_transform_publisher-3process started with pid [7676] + 5.26sINFOodom_world_drift-4process started with pid [7677] + 5.26sINFOodom_qos_relay.py-5process started with pid [7678] + 5.26sINFOlidar_flattener.py-6process started with pid [7679] + 5.26sINFOstatic_transform_publisher-7process started with pid [7680] + 5.27sINFOstatic_transform_publisher-8process started with pid [7681] + 5.27sINFOscan_to_scan_filter_chain-9process started with pid [7682] + 5.27sINFOscan_to_scan_filter_chain-10process started with pid [7775] + 5.27sINFOfixed_lag_smoother_node-11process started with pid [7776] + 5.27sINFOros2-13process started with pid [7778] + 5.27sINFOros2-14process started with pid [7779] + 5.27sINFOros2-15process started with pid [7780] + 5.27sINFOros2-16process started with pid [7781] + 5.27sINFOros2-17process started with pid [7782] + 5.27sINFOros2-18process started with pid [7783] + 5.27sINFOros2-19process started with pid [7784] + 5.27sINFOros2-20process started with pid [7785] + 5.27sINFOros2-21process started with pid [7786] + 5.27sINFOros2-22process started with pid [7787] + 5.28sINFOros2-23process started with pid [7788] + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.35sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 5.35sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 5.35sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 5.35sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 5.35sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.35sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.35sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.35sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.36sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.36sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.36sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.36sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.36sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.36sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.36sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.36sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.36sWARNros2_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 + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966512 ms (missed cycles : 2).[0m + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.56sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.58sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.65sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.73sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.76sINFOvideo_server2026/09/17 17:05:56 INF MediaMTX v1.20.1, linux, amd64 + 5.76sINFOvideo_server2026/09/17 17:05:56 INF configuration loaded from /tmp/moveit-webrtc-yb4cp_2p/mediamtx.yml + 5.76sINFOvideo_server2026/09/17 17:05:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.76sINFOvideo_server2026/09/17 17:05:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.76sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.76sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.77sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.83sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.92sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 5.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 6.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.11sINFOmove_groupLoaded robot model in 0.678348 seconds[0m + 6.11sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 6.11sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634953 ms (missed cycles : 6).[0m + 6.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.93sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.93sWARNmove_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 + 6.93sWARNmove_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 + 6.93sWARNmove_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 + 6.93sWARNmove_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 + 6.93sWARNmove_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 + 6.93sWARNmove_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 + 6.94sWARNmove_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 + 6.94sWARNmove_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 + 6.94sWARNmove_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 + 6.94sWARNmove_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 + 7.02sINFOwaypoint_manager_nodeLoaded robot model in 0.225038 seconds[0m + 7.02sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 7.03sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.26sINFOmove_group[2026-09-17 17:05:57.700] [moveit_pro_license] [info] + 7.26sINFOmove_group************************************************* ×6 + 7.26sINFOmove_group* MoveIt Pro License ×3 + 7.26sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.39sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.39sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886119 ms (missed cycles : 2).[0m + 7.42sINFOros2_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 + 7.42sINFOros2_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 + 7.44sWARNwaypoint_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 + 7.44sWARNwaypoint_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 + 7.44sWARNwaypoint_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 + 7.44sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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 + 7.68sINFOwaypoint_manager_node[2026-09-17 17:05:58.119] [moveit_pro_license] [info] + 7.68sINFOwaypoint_manager_node************************************************* ×6 + 7.68sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.68sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.73sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.73sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.73sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.73sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.73sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.74sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.74sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.74sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.74sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.75sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.75sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 8.08sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 8.08sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 8.09sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 8.33sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 8.34sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 8.34sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 8.34sWARNros2_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 + 8.34sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 8.34sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 8.34sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 8.34sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 8.34sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 8.34sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 8.34sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 8.34sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 8.34sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.34sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 8.34sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.34sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 8.34sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 8.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 8.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 8.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 8.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 8.34sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 8.34sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.46sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.46sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.46sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.46sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.47sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.47sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.47sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.47sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.47sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.47sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.47sINFOcomponent_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 + 8.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.52sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 8.52sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 8.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.55sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 8.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.57sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 8.58sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 8.58sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 8.58sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 8.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 8.59sINFOros2_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 + 8.59sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.59sWARNros2_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 + 8.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556218 ms (missed cycles : 4).[0m + 8.59sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 8.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.68sINFOcomponent_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 + 8.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.69sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.69sINFOobjective_server_node[2026-09-17 17:05:59.126] [moveit_pro_license] [info] + 8.69sINFOobjective_server_node************************************************* ×8 + 8.69sINFOobjective_server_node* MoveIt Pro License ×4 + 8.69sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.76sINFOobjective_server_nodeLoaded robot model in 0.0338326 seconds[0m + 8.76sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.76sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.81sWARNcomponent_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 + 8.93sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 8.93sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 8.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.93sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 8.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.02sINFOros2-17process has finished cleanly [pid 7782] + 9.04sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 9.04sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 9.04sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 9.05sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 9.21sINFOcomponent_container_mtLoaded robot model in 0.397563 seconds[0m + 9.21sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 9.21sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.34sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.34sWARNobjective_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 + 9.34sWARNobjective_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 + 9.34sWARNobjective_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 + 9.34sWARNobjective_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 + 9.34sWARNobjective_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 + 9.35sWARNobjective_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 + 9.35sWARNobjective_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 + 9.35sWARNobjective_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 + 9.35sWARNobjective_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 + 9.35sWARNobjective_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 + 9.36sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 9.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 9.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 9.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 9.41sINFOros2-14process has finished cleanly [pid 7779] + 9.42sINFOobjective_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 + 9.43sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 9.43sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 9.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 9.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 9.45sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.45sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.45sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.45sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.45sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.45sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.45sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 9.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794900 ms (missed cycles : 2).[0m + 9.70sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.74sWARNcomponent_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 + 9.74sWARNcomponent_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 + 9.74sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.75sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.76sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 9.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 9.83sINFOros2-15process has finished cleanly [pid 7780] + 9.90sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.90sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 9.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 9.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.97sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.97sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 10.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 10.06sINFOcomponent_container_mt[2026-09-17 17:06:00.496] [moveit_pro_license] [info] + 10.06sINFOcomponent_container_mt************************************************* ×6 + 10.06sINFOcomponent_container_mt* MoveIt Pro License ×3 + 10.06sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 10.10sINFOmove_group ×12 + 10.10sINFOmove_group******************************************************** ×6 + 10.10sINFOmove_group* MoveGroup using: ×3 + 10.10sINFOmove_group* - apply_planning_scene_service ×3 + 10.10sINFOmove_group* - clear_octomap_service ×3 + 10.10sINFOmove_group* - get_group_urdf ×3 + 10.10sINFOmove_group* - load_geometry_from_file ×3 + 10.10sINFOmove_group* - get_planning_scene_service ×3 + 10.10sINFOmove_group* - kinematics_service ×3 + 10.10sINFOmove_group* - save_geometry_to_file ×3 + 10.10sINFOmove_group* - GetPlanningGroups ×3 + 10.10sINFOmove_group* - URDFPlanningSceneCapability ×3 + 10.10sINFOmove_group[0m ×3 + 10.10sINFOmove_group[92mYou can start planning now![0m ×3 + 10.50sINFOros2_control_node[2026-09-17 17:06:00.939] [info] Controller state will be published at 20 Hz. + 10.50sINFOros2_control_node[2026-09-17 17:06:00.941] [info] JointVelocityController 'on_configure' succeeded. + 10.51sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.52sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.56sWARNros2_control_nodeCamera render tick took 1.14 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 + 10.59sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.60sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596826 ms (missed cycles : 4).[0m + 10.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.82sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.82sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 10.83sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 10.87sINFOros2-22process has finished cleanly [pid 7787] + 10.91sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 10.91sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 10.92sINFOros2_control_nodeconfigure successful[0m ×9 + 11.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m + 11.23sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.24sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.24sINFOros2-18process has finished cleanly [pid 7783] + 11.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 11.40sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 11.41sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 11.56sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201845 ms (missed cycles : 2).[0m + 11.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.92sINFOros2_control_node[2026-09-17 17:06:02.354] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.92sINFOros2_control_node[2026-09-17 17:06:02.357] [info] Controller state will be published at 10 Hz. + 11.92sINFOros2_control_node[2026-09-17 17:06:02.358] [info] VelocityForceController 'on_configure' succeeded. + 12.28sINFOros2-21process has finished cleanly [pid 7786] + 12.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 12.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 12.35sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 12.41sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 12.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 12.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 12.42sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424827 ms (missed cycles : 3).[0m + 12.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 12.78sINFOros2-16process has finished cleanly [pid 7781] + 12.82sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 12.83sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 13.31sINFOros2_control_node[2026-09-17 17:06:03.748] [info] Controller state will be published at 20 Hz. + 13.31sINFOros2_control_node[2026-09-17 17:06:03.749] [info] JointVelocityController 'on_configure' succeeded. + 13.67sINFOros2-23process has finished cleanly [pid 7788] + 13.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 13.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 13.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 13.77sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 13.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 13.78sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 13.78sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 13.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 13.78sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 13.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 13.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927901 ms (missed cycles : 3).[0m + 14.13sINFOros2-19process has finished cleanly [pid 7784] + 14.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 14.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 14.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 14.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 14.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 14.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 14.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 14.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 14.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 14.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxghvr5k --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_5l3p_j30 --params-file /tmp/launch_params_nmp47kaz [0m + 14.54sINFOros2-13process has finished cleanly [pid 7778] + 14.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 14.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204111 ms (missed cycles : 2).[0m + 15.01sINFOros2_control_node[2026-09-17 17:06:05.451] [warning] No force/torque sensor configured. The VFC will ignore force references. + 15.02sINFOros2_control_node[2026-09-17 17:06:05.453] [info] Controller state will be published at 10 Hz. + 15.02sINFOros2_control_node[2026-09-17 17:06:05.454] [info] VelocityForceController 'on_configure' succeeded. + 15.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 15.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 15.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 15.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 15.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 15.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 15.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 15.35sINFOros2-20process has finished cleanly [pid 7785] + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952730 ms (missed cycles : 2).[0m + 16.29sWARNros2_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 + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402017 ms (missed cycles : 3).[0m + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162706 ms (missed cycles : 2).[0m + 18.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233285 ms (missed cycles : 2).[0m + 20.23sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 20.23sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 20.23sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 20.23sINFOobjective_server_nodeparameter_overrides: [] ×27 + 20.23sINFOobjective_server_nodecaller: ×27 + 20.23sINFOobjective_server_nodetype: 0 ×27 + 20.23sINFOobjective_server_nodename: "" ×27 + 20.23sINFOobjective_server_nodeinstance_id: "" ×27 + 20.23sINFOobjective_server_node ×27 + 20.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664770.71189404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.28sINFOmove_groupClearing octomap...[0m ×7 + 20.28sINFOmove_groupOctomap cleared.[0m ×7 + 20.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 20.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664770.72208929 seconds + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721405 ms (missed cycles : 3).[0m + 20.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 20.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664771.30583382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664771.32595396 seconds + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802823 ms (missed cycles : 5).[0m + 21.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 21.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664771.90456462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664772.05514121 seconds + 22.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 22.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664772.65799928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.23sINFOobjective_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 + 22.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 22.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 22.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 22.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664772.71812892 seconds + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005943 ms (missed cycles : 2).[0m + 22.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 22.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664773.30029869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 22.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 22.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 22.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468310 ms (missed cycles : 3).[0m + 23.93sINFOobjective_server_nodePlanning for 177 path waypoints. + 24.24sINFOros2_control_nodeReceived new action goal[0m ×3 + 24.24sINFOros2_control_nodeAccepted new action goal[0m ×3 + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056966 ms (missed cycles : 2).[0m + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159420 ms (missed cycles : 2).[0m + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163969 ms (missed cycles : 2).[0m + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867346 ms (missed cycles : 2).[0m + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042785 ms (missed cycles : 2).[0m + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323035 ms (missed cycles : 3).[0m + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454176 ms (missed cycles : 2).[0m + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105631 ms (missed cycles : 2).[0m + 33.11sWARNros2_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 + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026971 ms (missed cycles : 2).[0m + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484941 ms (missed cycles : 4).[0m + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867376 ms (missed cycles : 4).[0m + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083118 ms (missed cycles : 2).[0m + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626685 ms (missed cycles : 3).[0m + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965020 ms (missed cycles : 2).[0m + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387062 ms (missed cycles : 4).[0m + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356730 ms (missed cycles : 3).[0m + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525873 ms (missed cycles : 2).[0m + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215115 ms (missed cycles : 3).[0m + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307491 ms (missed cycles : 2).[0m + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396984 ms (missed cycles : 4).[0m + 45.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146692 ms (missed cycles : 2).[0m + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806151 ms (missed cycles : 2).[0m + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148451 ms (missed cycles : 3).[0m + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420904 ms (missed cycles : 3).[0m + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011724 ms (missed cycles : 3).[0m + 51.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077354 ms (missed cycles : 2).[0m + 52.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415483 ms (missed cycles : 2).[0m + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039958 ms (missed cycles : 2).[0m + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536822 ms (missed cycles : 3).[0m + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534987 ms (missed cycles : 3).[0m + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986723 ms (missed cycles : 2).[0m + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595922 ms (missed cycles : 3).[0m + 58.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609546 ms (missed cycles : 2).[0m + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353159 ms (missed cycles : 3).[0m + 61.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833291 ms (missed cycles : 2).[0m + 62.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658856 ms (missed cycles : 3).[0m + 63.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288583 ms (missed cycles : 2).[0m + 64.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772900 ms (missed cycles : 3).[0m + 65.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310324 ms (missed cycles : 2).[0m + 65.91sINFOros2_control_nodeGoal reached, success![0m ×3 + 65.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789664816.38386607 seconds + 65.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 66.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555916 ms (missed cycles : 2).[0m + 66.49sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 66.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789664816.97417593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 67.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983179 ms (missed cycles : 2).[0m + 67.59sINFOobjective_server_nodeFound path in 0 iterations (2.3934e-05 s). + 67.65sINFOobjective_server_nodePath shortcutter: [X________________________X] + 67.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 68.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531262 ms (missed cycles : 2).[0m + 69.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664585 ms (missed cycles : 3).[0m + 70.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614678 ms (missed cycles : 2).[0m + 71.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933769 ms (missed cycles : 2).[0m + 72.04sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789664822.47433043 seconds + 72.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 72.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789664823.04847813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830811 ms (missed cycles : 3).[0m + 73.37sWARNobjective_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 + 73.37sERRORobjective_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 + 73.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789664823.80867386 seconds + 74.01sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 74.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789664824.48885536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025668 ms (missed cycles : 3).[0m + 74.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789664825.22904491 seconds + 75.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912090 ms (missed cycles : 2).[0m + 75.36sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 75.40sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789664825.83976674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789664826.55993104 seconds + 76.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295918 ms (missed cycles : 4).[0m + 76.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 76.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789664827.17609167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344130 ms (missed cycles : 3).[0m + 77.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789664827.90625215 seconds + 78.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 78.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789664828.51934409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 78.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153349 ms (missed cycles : 2).[0m + 78.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789664829.25951791 seconds + 79.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469690 ms (missed cycles : 3).[0m + 80.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808568 ms (missed cycles : 4).[0m + 81.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286779 ms (missed cycles : 2).[0m + 82.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032418 ms (missed cycles : 4).[0m + 83.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438639 ms (missed cycles : 3).[0m + 84.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800233 ms (missed cycles : 3).[0m + 85.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350331 ms (missed cycles : 3).[0m + 86.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317401 ms (missed cycles : 2).[0m + 88.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567344 ms (missed cycles : 3).[0m + 89.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 89.05sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789664839.48645306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605035 ms (missed cycles : 4).[0m + 89.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789664840.22664928 seconds + 90.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779975 ms (missed cycles : 4).[0m + 90.35sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 90.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789664840.83795047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 91.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725069 ms (missed cycles : 3).[0m + 92.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970628 ms (missed cycles : 3).[0m + 93.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899088 ms (missed cycles : 3).[0m + 94.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782034 ms (missed cycles : 3).[0m + 95.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503677 ms (missed cycles : 4).[0m + 96.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789664846.59811807 seconds + 96.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646136 ms (missed cycles : 3).[0m + 96.71sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 96.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789664847.19154906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038767 ms (missed cycles : 2).[0m + 97.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789664847.99174881 seconds + 98.13sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 98.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789664848.61544490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654148 ms (missed cycles : 3).[0m + 99.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789664849.44573641 seconds + 99.09sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 99.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m + 99.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 99.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915581 ms (missed cycles : 2).[0m + 99.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664850.07221079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +100.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005414 ms (missed cycles : 2).[0m +101.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307573 ms (missed cycles : 5).[0m +102.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664852.89234114 seconds +102.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480898 ms (missed cycles : 3).[0m +103.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +103.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664853.47099924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +103.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499376 ms (missed cycles : 3).[0m +103.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789664854.37113452 seconds +104.17sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +104.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890325 ms (missed cycles : 3).[0m +106.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037594 ms (missed cycles : 5).[0m +107.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502678 ms (missed cycles : 4).[0m +108.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287078 ms (missed cycles : 2).[0m +109.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178245 ms (missed cycles : 2).[0m +109.96sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.96sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.96sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.96sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.97sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.98sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.98sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.98sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] +109.98sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.99sERRORweb_video_auth_proxy-38process has died [pid 7872, 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']. +109.99sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.99sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.99sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.99sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.99sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.99sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.99sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] +110.00sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +110.00sERRORweb_bridge_auth_proxy-37process has died [pid 7868, 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']. +110.00sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +110.00sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +110.00sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +110.01sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +110.01sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +110.01sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] +110.02sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] +110.03sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] +110.04sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] +110.05sINFOvideo_server-36process has finished cleanly [pid 7867] +110.05sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] +110.06sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] +110.07sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +110.08sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] +110.09sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] +110.10sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] +110.11sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] +110.12sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] +110.13sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] +110.15sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] +110.16sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] +110.17sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +110.19sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +110.20sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +110.20sERRORmove_group-24process has died [pid 7789, 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_ps7nephw --params-file /tmp/launch_params_5qwpie9_ --params-file /tmp/launch_params_mjjqb54s --params-file /tmp/launch_params_mrjh_cci --params-file /tmp/launch_params_96axttbr --params-file /tmp/launch_params_i1n0d7ax']. +110.21sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +110.22sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +110.22sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system +110.23sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +110.23sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] +110.24sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +110.25sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +110.26sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +110.26sINFOvideo_server2026/09/17 17:07:40 INF shutting down gracefully +110.26sINFOvideo_server2026/09/17 17:07:40 INF [WebRTC] closing +110.26sINFOvideo_server2026/09/17 17:07:40 INF [RTSP] closing +110.26sINFOvideo_server2026/09/17 17:07:40 INF waiting for running hooks +110.26sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +110.26sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +110.26sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.26sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +110.26sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.26sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.26sINFOcomponent_container_mtStopping planning scene monitor[0m +110.26sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.26sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.26sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +110.26sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +110.27sERRORmove_groupwhat(): context cannot be slept with because it's invalid +110.27sERRORmove_groupStack trace (most recent call last) in thread 8466: +110.27sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +110.27sINFOros2_control_nodeShutdown request received....[0m +110.27sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +110.27sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +110.27sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +110.27sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +110.27sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +110.27sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +110.27sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +110.27sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +110.27sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +110.27sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +110.27sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +110.27sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +110.27sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +110.27sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe543033a63, in __clone +110.27sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe542fa6aa3, in +110.27sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +110.27sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +110.27sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +110.27sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +110.27sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +110.27sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +110.27sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +110.27sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +110.27sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +110.27sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +110.27sINFOros2_control_nodeShutting down the controller manager.[0m +110.27sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +110.27sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe543238db3, in +110.27sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fe54399cb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +110.27sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe5435ca620, in rclcpp::Rate::sleep() +110.27sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe54350cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +110.27sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe5434ce087, in +110.27sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe543207390, in __cxa_throw +110.27sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5431f1a54, in std::terminate() +110.27sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5432070d9, in +110.27sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe5431f1ff4, in +110.27sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe542f328fe, in abort +110.27sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe542f4f27d, in raise +110.27sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe542fa8b2c, in pthread_kill +110.27sERRORmove_groupAborted (Signal sent by tkill() 7789 0) +110.27sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.27sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +110.27sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +110.27sERRORodom_qos_relay.pyTraceback (most recent call last): +110.27sINFOodom_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> +110.27sINFOodom_qos_relay.pymain() +110.27sINFOodom_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 +110.27sINFOodom_qos_relay.pyrclpy.spin(node) +110.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +110.27sINFOodom_qos_relay.pyexecutor.spin_once() +110.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +110.27sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +110.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +110.27sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +110.27sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +110.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +110.27sINFOodom_qos_relay.pyreturn next(self._cb_iter) +110.27sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +110.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +110.27sINFOodom_qos_relay.pyraise ExternalShutdownException() +110.27sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +110.27sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m +110.37sINFOros2_control_nodeAsync messages lost 0[0m ×2 +110.37sINFOros2_control_nodepublish_async_failures_ 2[0m +110.37sINFOros2_control_nodepublish_async_failures_ 1[0m +110.56sWARNros2_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 +111.08sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7865] +111.08sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system +111.15sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7843] +111.17sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7842] +111.18sINFOui_teleop_bridge-33process has finished cleanly [pid 7858] +111.19sINFOexecute_objective_bridge-32process has finished cleanly [pid 7847] +111.21sINFOparameter_manager_node-25process has finished cleanly [pid 7840] +111.23sINFOwaypoint_manager_node-26process has finished cleanly [pid 7841] +111.23sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7775] +111.24sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7682] +111.24sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 7776] +111.25sINFOstatic_transform_publisher-8process has finished cleanly [pid 7681] +111.25sINFOcomponent_container_mt-31process has finished cleanly [pid 7846] +111.26sINFOstatic_transform_publisher-7process has finished cleanly [pid 7680] +111.26sERRORlidar_flattener.pyTraceback (most recent call last): +111.26sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +111.26sINFOlidar_flattener.pymain() +111.27sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +111.27sINFOlidar_flattener.pyrclpy.spin(node) +111.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +111.27sINFOlidar_flattener.pyexecutor.spin_once() +111.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +111.27sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +111.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +111.27sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +111.27sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +111.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +111.27sINFOlidar_flattener.pyreturn next(self._cb_iter) +111.27sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +111.27sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +111.27sINFOlidar_flattener.pyraise ExternalShutdownException() +111.27sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +111.29sINFOstatic_transform_publisher-3process has finished cleanly [pid 7676] +111.29sINFOobjective_server_node[2026-09-17 17:07:41.731] [moveit_pro_license] [info] +111.29sINFOobjective_server_node* Application has successfully terminated +111.32sERRORlidar_flattener.py-6process has died [pid 7679, 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_2phxvs2e']. +111.33sERRORodom_qos_relay.py-5process has died [pid 7678, 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']. +111.35sINFOobjective_server_node_main-29process has finished cleanly [pid 7844] +111.36sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system +111.40sERRORcomponent_container_isolated-1process has died [pid 7674, 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_2k8hpndk --params-file /tmp/launch_params_cvcb6zln -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +112.27sINFOodom_world_drift-4process has finished cleanly [pid 7677] +112.28sINFOcomponent_container_mt-30process has finished cleanly [pid 7845] +112.63sERRORcomponent_container_isolated-2process has died [pid 7675, 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_2k8hpndk --params-file /tmp/launch_params_gbihelgo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +112.91sINFOros2_control_node-12process has finished cleanly [pid 7777] +113.01sINFOweb_bridge-34process has finished cleanly [pid 7864] +113.01sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system +118.92sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-17-07-47-624344-71bfc96d23bd-10784 ×2 +123.82sINFOstatic_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' +123.84sINFOstatic_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' +123.84sINFOstatic_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' +123.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +123.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +123.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +123.96sINFOcontroller_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. +123.99sINFOcontroller_serverCreating controller server +124.02sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.02sINFOlocal_costmap.local_costmapCreating Costmap +124.03sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +124.04sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +124.05sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +124.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +124.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.06sINFOcontroller_managerupdate rate is 600 Hz +124.06sINFOcontroller_managerOverruns handling is : enabled +124.06sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +124.06sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +124.06sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +124.07sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +124.10sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +124.11sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.12sINFOros2_control_node-12process started with pid [10937] ×2 +124.12sINFOmove_group-24process started with pid [10955] ×2 +124.12sINFOparameter_manager_node-25process started with pid [11002] ×2 +124.12sINFOwaypoint_manager_node-26process started with pid [11003] ×2 +124.12sINFOmove_joint_resampler_node-27process started with pid [11004] ×2 +124.12sINFOmove_end_effector_resampler_node-28process started with pid [11005] ×2 +124.12sINFOobjective_server_node_main-29process started with pid [11007] ×2 +124.13sINFOcomponent_container_mt-30process started with pid [11017] ×2 +124.13sINFOcomponent_container_mt-31process started with pid [11026] ×2 +124.13sINFOexecute_objective_bridge-32process started with pid [11027] ×2 +124.13sINFOui_teleop_bridge-33process started with pid [11028] ×2 +124.13sINFOweb_bridge-34process started with pid [11029] ×2 +124.13sINFOtf2_web_republisher_node-35process started with pid [11030] ×2 +124.13sINFOvideo_server-36process started with pid [11032] ×2 +124.13sINFOweb_bridge_auth_proxy-37process started with pid [11035] ×2 +124.13sINFOweb_video_auth_proxy-38process started with pid [11036] ×2 +124.13sINFOcomponent_container_isolated-1process started with pid [10834] ×2 +124.13sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +124.13sINFOcomponent_container_isolated-2process started with pid [10835] ×2 +124.13sINFOstatic_transform_publisher-3process started with pid [10836] ×2 +124.14sINFOodom_world_drift-4process started with pid [10837] ×2 +124.14sINFOodom_qos_relay.py-5process started with pid [10838] ×2 +124.14sINFOlidar_flattener.py-6process started with pid [10839] ×2 +124.14sINFOstatic_transform_publisher-7process started with pid [10840] ×2 +124.14sINFOstatic_transform_publisher-8process started with pid [10841] ×2 +124.14sINFOscan_to_scan_filter_chain-9process started with pid [10842] ×2 +124.14sINFOscan_to_scan_filter_chain-10process started with pid [10935] ×2 +124.14sINFOfixed_lag_smoother_node-11process started with pid [10936] ×2 +124.14sINFOros2-13process started with pid [10938] ×2 +124.14sINFOros2-14process started with pid [10939] ×2 +124.14sINFOros2-15process started with pid [10940] ×2 +124.14sINFOros2-16process started with pid [10941] ×2 +124.14sINFOros2-17process started with pid [10942] ×2 +124.14sINFOros2-18process started with pid [10943] ×2 +124.15sINFOros2-19process started with pid [10944] ×2 +124.15sINFOros2-20process started with pid [10945] ×2 +124.15sINFOros2-21process started with pid [10946] ×2 +124.15sINFOros2-22process started with pid [10951] ×2 +124.15sINFOros2-23process started with pid [10952] ×2 +124.15sINFOsmoother_serverCreating smoother server +124.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +124.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.18sINFOstate_estimatorReceived a set_pose request (stamp: 1789664874614872654, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +124.21sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +124.25sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +124.25sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.25sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.26sINFOplanner_serverCreating +124.28sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.28sINFOmap_serverCreating +124.29sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +124.30sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.31sINFOglobal_costmap.global_costmapCreating Costmap +124.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +124.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273642 ms (missed cycles : 2). +124.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273642 ms (missed cycles : 2).[0m ×2 +124.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +124.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.37sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.41sINFOrobot_state_publisherRobot initialized +124.41sINFOcontroller_managerReceived robot description from topic. +124.41sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +124.44sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +124.45sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +124.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +124.46sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.46sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.48sINFObt_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. +124.50sINFOlifecycle_manager_localizationCreating +124.50sINFObt_navigatorCreating +124.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +124.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.54sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +124.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.55sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.56sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +124.56sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +124.56sINFOmap_serverConfiguring +124.58sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +124.61sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +124.61sINFOamclConfiguring +124.62sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +124.62sINFOmap_serverActivating +124.62sINFOmap_serverCreating bond (map_server) to lifecycle manager. +124.63sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +124.64sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +124.68sINFOwaypoint_followerCreating +124.68sINFOvideo_server2026/09/17 17:07:55 INF MediaMTX v1.20.1, linux, amd64 ×2 +124.68sINFOvideo_server2026/09/17 17:07:55 INF configuration loaded from /tmp/moveit-webrtc-tvwymag4/mediamtx.yml ×2 +124.68sINFOvideo_server2026/09/17 17:07:55 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +124.68sINFOvideo_server2026/09/17 17:07:55 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +124.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +124.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.74sINFOlifecycle_manager_localizationServer map_server connected with bond. +124.74sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +124.74sINFOamclActivating +124.74sINFOamclSubscribed to initial_pose_topic: /initialpose +124.74sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +124.74sINFOvelocity_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. +124.75sINFOamclSubscribed to map_topic: /map +124.75sINFOamclSubscribed to scan_topic: /scan_merged +124.75sINFOamclCreated reinitialize_global_localization service +124.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.75sINFOamclCreated request_nomotion_update service +124.76sINFOamclA new map was received +124.76sINFOamclInitializing particle filter instance +124.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.79sINFOlifecycle_manager_navigationCreating +124.81sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.85sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +124.85sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +124.85sINFOcontroller_serverConfiguring controller interface +124.85sINFOcontroller_servergetting progress checker plugins.. +124.85sINFOcontroller_servergetting goal checker plugins.. +124.85sINFOcontroller_serverController frequency set to 20.0000Hz +124.85sINFOlocal_costmap.local_costmapConfiguring +124.85sWARNlaser_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. +124.85sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +124.89sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +124.93sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +124.93sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +124.93sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +124.96sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +124.97sINFOcontroller_serverController Server has progress_checker progress checkers available. +124.97sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +124.98sWARNlaser_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. +124.98sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +124.98sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +125.00sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +125.03sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +125.03sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +125.03sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +125.03sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +125.04sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +125.04sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +125.04sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +125.04sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +125.04sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +125.04sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +125.05sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +125.05sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +125.05sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +125.06sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +125.06sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +125.06sINFOcontroller_serverOptimizer reset ×2 +125.08sINFOcontroller_serverController Server has FollowPath controllers available. +125.09sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +125.09sINFOsmoother_serverConfiguring smoother server +125.11sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +125.12sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +125.14sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +125.14sINFOplanner_serverConfiguring +125.14sINFOglobal_costmap.global_costmapConfiguring +125.15sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +125.15sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +125.15sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +125.15sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +125.15sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +125.17sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +125.17sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +125.17sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +125.20sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +125.20sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +125.21sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +125.21sINFOplanner_serverPlanner Server has GridBased planners available. +125.24sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +125.24sINFObehavior_serverConfiguring +125.27sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +125.28sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +125.29sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +125.29sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +125.30sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +125.31sINFObehavior_serverConfiguring spin +125.33sINFObehavior_serverConfiguring backup +125.33sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.437163 seconds +125.34sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +125.34sINFOmove_groupLoaded robot model in 0.437163 seconds[0m ×2 +125.34sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +125.35sINFObehavior_serverConfiguring drive_on_heading +125.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030658 ms (missed cycles : 5). +125.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030658 ms (missed cycles : 5).[0m ×2 +125.36sINFObehavior_serverConfiguring assisted_teleop +125.40sINFObehavior_serverConfiguring wait +125.43sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +125.43sINFObt_navigatorConfiguring +125.44sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +125.48sWARNbt_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 +125.52sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +125.61sINFOamclParticle filter initialization completed +125.61sINFOamclInitializing particles from estimated pose and covariance +125.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +125.61sINFOamclThe bond connection to the lifecycle manager is now fully formed +125.61sINFOlifecycle_manager_localizationServer amcl connected with bond. +125.61sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +125.61sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +125.72sINFOwaypoint_manager_nodeLoaded robot model in 0.30113 seconds[0m ×2 +125.73sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +125.79sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +125.79sINFOwaypoint_followerConfiguring +125.81sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +125.81sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +125.81sINFOvelocity_smootherConfiguring velocity smoother +125.82sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +125.82sINFOcontroller_serverActivating +125.82sINFOlocal_costmap.local_costmapActivating +125.82sINFOlocal_costmap.local_costmapChecking transform +125.82sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×3 +125.92sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.92sWARNmove_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. +125.92sWARNmove_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. +125.92sWARNmove_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. +125.92sWARNmove_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. +125.92sWARNmove_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. +125.92sWARNmove_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. +125.92sWARNmove_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. +125.92sWARNmove_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. +125.93sWARNmove_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. +125.93sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.06sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +126.06sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.26sINFOmove_group[2026-09-17 17:07:56.700] [moveit_pro_license] [info] ×2 +126.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069938 ms (missed cycles : 3). +126.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069938 ms (missed cycles : 3).[0m ×2 +126.53sINFOwaypoint_manager_node[2026-09-17 17:07:56.963] [moveit_pro_license] [info] ×2 +126.75sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +126.75sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +126.75sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +126.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +126.75sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +126.75sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +126.75sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +126.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +126.75sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +126.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +126.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +126.95sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +126.96sINFOcontroller_managerActivating component 'ur_mujoco_control'. +126.96sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +126.96sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +127.03sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +127.03sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +127.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +127.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +127.22sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +127.23sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +127.32sINFOlocal_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. ×12 +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.36sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +127.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685866 ms (missed cycles : 2). +127.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685866 ms (missed cycles : 2).[0m ×2 +127.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +127.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +127.57sINFOobjective_server_node[2026-09-17 17:07:58.006] [moveit_pro_license] [info] ×2 +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +127.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.59sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +127.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +127.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +127.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +127.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +127.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +127.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +127.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +127.64sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +127.64sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +127.64sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +127.64sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +127.65sINFOobjective_server_nodeLoaded robot model in 0.0255234 seconds[0m ×2 +127.78sINFOros2_control_node[2026-09-17 17:07:58.220] [info] Controller state will be published at 20 Hz. ×2 +127.78sINFOros2_control_node[2026-09-17 17:07:58.221] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.91sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.91sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.93sINFOstreaming_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) +127.94sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +127.96sINFOcomponent_container_mtLoaded robot model in 0.398286 seconds[0m ×2 +128.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +128.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +128.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +128.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +128.17sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +128.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +128.17sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +128.17sWARNobjective_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. +128.17sWARNobjective_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. +128.17sWARNobjective_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. +128.17sWARNobjective_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. +128.18sWARNobjective_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. +128.18sWARNobjective_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. +128.18sINFOros2-23process has finished cleanly [pid 10952] ×2 +128.18sWARNobjective_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. +128.18sWARNobjective_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. +128.18sWARNobjective_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. +128.18sWARNobjective_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. +128.27sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +128.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +128.27sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +128.27sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +128.28sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +128.28sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +128.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +128.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798830 ms (missed cycles : 5). +128.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798830 ms (missed cycles : 5).[0m ×2 +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.49sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.50sWARNplanning_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. +128.58sINFOmove_groupMoveGroup debug mode is ON +128.61sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +128.63sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +128.63sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +128.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +128.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +128.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +128.65sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.65sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.69sINFOros2-19process has finished cleanly [pid 10944] ×2 +128.71sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +128.71sINFOcomponent_container_mt[2026-09-17 17:07:59.148] [moveit_pro_license] [info] ×2 +128.71sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +128.72sINFOforce_torque_sensor_broadcasterconfigure successful +128.72sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +128.73sINFOcontroller_managerSuccessfully switched controllers! ×20 +128.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +128.77sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+129.02sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +129.02sINFOcontroller_managerLoading controller 'vacuum_gripper' +129.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +129.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +129.05sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +129.07sINFOros2-13process has finished cleanly [pid 10938] ×2 +129.08sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +129.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +129.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +129.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +129.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +129.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 +129.45sINFOros2-17process has finished cleanly [pid 10942] ×2 +129.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +129.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' +129.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +129.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +129.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938869 ms (missed cycles : 5). +129.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938869 ms (missed cycles : 5).[0m ×2 +129.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +129.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +129.66sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789664878.430 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.94sINFOros2_control_node[2026-09-17 17:08:00.378] [info] Controller state will be published at 20 Hz. ×2 +129.94sINFOros2_control_node[2026-09-17 17:08:00.379] [info] JointVelocityController 'on_configure' succeeded. ×2 +130.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +130.25sINFOcontroller_managerLoading controller 'velocity_force_controller' +130.28sINFOros2-22process has finished cleanly [pid 10951] ×2 +130.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +130.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +130.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +130.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +130.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000920 ms (missed cycles : 2). +130.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000920 ms (missed cycles : 2).[0m ×2 +130.75sINFOros2_control_node[2026-09-17 17:08:01.183] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +130.75sINFOros2_control_node[2026-09-17 17:08:01.185] [info] Controller state will be published at 10 Hz. ×2 +130.75sINFOros2_control_node[2026-09-17 17:08:01.186] [info] VelocityForceController 'on_configure' succeeded. ×2 +131.08sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +131.08sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +131.08sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +131.08sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +131.10sINFOros2-20process has finished cleanly [pid 10945] ×2 +131.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +131.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +131.53sINFOros2_control_node[2026-09-17 17:08:01.968] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +131.53sINFOros2_control_node[2026-09-17 17:08:01.970] [info] Controller state will be published at 10 Hz. ×2 +131.53sINFOros2_control_node[2026-09-17 17:08:01.971] [info] VelocityForceController 'on_configure' succeeded. ×2 +131.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710106 ms (missed cycles : 2). +131.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710106 ms (missed cycles : 2).[0m ×2 +131.84sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +131.84sINFOcontroller_managerLoading controller 'platform_velocity_controller' +131.84sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +131.84sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +131.88sINFOros2-21process has finished cleanly [pid 10946] ×2 +131.90sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +131.90sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +131.91sINFOplatform_velocity_controllerconfigure successful +131.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +131.93sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +132.28sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789664881.187 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +132.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +132.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +132.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +132.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +132.40sINFOros2-16process has finished cleanly [pid 10941] ×2 +132.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +132.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +132.41sINFOplatform_velocity_controller_nav2configure successful +132.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905651 ms (missed cycles : 3). +132.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905651 ms (missed cycles : 3).[0m ×2 +132.77sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +132.77sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +132.77sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +132.77sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +132.80sINFOros2-18process has finished cleanly [pid 10943] ×2 +132.82sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +132.82sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +132.82sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +132.83sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +133.17sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +133.17sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +133.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo +133.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_53qq35k9 --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_zzz3qckm --params-file /tmp/launch_params_0d4k45uo [0m ×2 +133.22sINFOros2-14process has finished cleanly [pid 10939] ×2 +133.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +133.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +133.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +133.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +133.25sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +133.32sINFOlocal_costmap.local_costmapstart +133.42sWARNcontroller_serverParameter controller_server.verbose not found +133.43sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +133.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +133.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +133.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +133.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +133.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +133.54sINFOlifecycle_manager_navigationServer controller_server connected with bond. +133.54sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +133.54sINFOsmoother_serverActivating +133.54sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +133.57sINFOros2-15process has finished cleanly [pid 10940] ×2 +133.64sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +133.64sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +133.64sINFOplanner_serverActivating +133.64sINFOglobal_costmap.global_costmapActivating +133.64sINFOglobal_costmap.global_costmapChecking transform +133.64sINFOglobal_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. +133.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964109 ms (missed cycles : 2). +133.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964109 ms (missed cycles : 2).[0m ×2 +133.82sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 5.247ms +134.14sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789664884.545095, but only time 1789664884.759140 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +134.64sINFOglobal_costmap.global_costmapstart +134.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538933 ms (missed cycles : 3). +134.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538933 ms (missed cycles : 3).[0m ×2 +135.04sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789664884.708 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +135.69sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +135.69sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +135.80sINFOlifecycle_manager_navigationServer planner_server connected with bond. +135.80sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +135.80sINFObehavior_serverActivating +135.80sINFObehavior_serverActivating spin +135.80sINFObehavior_serverActivating backup +135.80sINFObehavior_serverActivating drive_on_heading +135.80sINFObehavior_serverActivating assisted_teleop +135.80sINFObehavior_serverActivating wait +135.80sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +135.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). +135.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 +135.90sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +135.90sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +135.90sINFObt_navigatorActivating +135.97sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +136.07sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +136.07sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +136.07sINFOwaypoint_followerActivating +136.07sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +136.18sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +136.18sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +136.18sINFOvelocity_smootherActivating +136.18sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +136.28sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +136.28sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +136.28sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +136.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). +136.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 +137.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). +137.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 +138.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +138.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +138.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +138.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 +138.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). +138.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 +139.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 +139.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 +140.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). +140.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 +140.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+140.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +140.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +140.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +140.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 +141.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). +141.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 +141.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+141.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +141.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +141.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +141.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 326 info |
+ 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.05sWARNros2_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 + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.39sINFOobjective_server_nodecaller: ×10 + 2.39sINFOobjective_server_nodetype: 0 ×10 + 2.39sINFOobjective_server_nodename: "" ×10 + 2.39sINFOobjective_server_nodeinstance_id: "" ×10 + 2.39sINFOobjective_server_node ×10 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.43sINFOmove_groupClearing octomap...[0m ×4 + 2.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×4 + 2.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_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 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 23 warnings · 348 info |
+ 0.00sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789664884.708 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 0.65sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.65sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.75sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.75sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.75sINFObehavior_serverActivating + 0.75sINFObehavior_serverActivating spin + 0.75sINFObehavior_serverActivating backup + 0.75sINFObehavior_serverActivating drive_on_heading + 0.75sINFObehavior_serverActivating assisted_teleop + 0.75sINFObehavior_serverActivating wait + 0.75sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.86sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.86sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.86sINFObt_navigatorActivating + 0.92sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.03sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.03sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.03sINFOwaypoint_followerActivating + 1.03sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.13sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.13sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.13sINFOvelocity_smootherActivating + 1.13sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.19sWARNros2_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 + 1.24sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.24sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.24sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.95sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.53sINFOobjective_server_nodecaller: ×10 + 3.53sINFOobjective_server_nodetype: 0 ×10 + 3.53sINFOobjective_server_nodename: "" ×10 + 3.53sINFOobjective_server_nodeinstance_id: "" ×10 + 3.53sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.57sINFOmove_groupClearing octomap...[0m ×4 + 3.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×4 + 3.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 7.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.52sINFOjoint_trajectory_controllerReceived new action goal + 7.52sINFOjoint_trajectory_controllerAccepted new action goal + 7.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 23 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_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 + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.88sINFOobjective_server_nodecaller: ×10 + 2.88sINFOobjective_server_nodetype: 0 ×10 + 2.88sINFOobjective_server_nodename: "" ×10 + 2.88sINFOobjective_server_nodeinstance_id: "" ×10 + 2.88sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 20 warnings · 339 info |
+ 0.00sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789664884.708 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 0.65sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.65sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.75sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.75sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.75sINFObehavior_serverActivating + 0.75sINFObehavior_serverActivating spin + 0.75sINFObehavior_serverActivating backup + 0.75sINFObehavior_serverActivating drive_on_heading + 0.75sINFObehavior_serverActivating assisted_teleop + 0.75sINFObehavior_serverActivating wait + 0.75sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.86sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.86sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.86sINFObt_navigatorActivating + 0.92sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.03sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.03sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.03sINFOwaypoint_followerActivating + 1.03sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.13sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.13sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.13sINFOvelocity_smootherActivating + 1.13sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.19sWARNros2_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 + 1.24sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.24sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.24sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.95sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.53sINFOobjective_server_nodecaller: ×10 + 3.53sINFOobjective_server_nodetype: 0 ×10 + 3.53sINFOobjective_server_nodename: "" ×10 + 3.53sINFOobjective_server_nodeinstance_id: "" ×10 + 3.53sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.57sINFOmove_groupClearing octomap...[0m ×4 + 3.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×4 + 3.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 23 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_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 + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.88sINFOobjective_server_nodecaller: ×10 + 2.88sINFOobjective_server_nodetype: 0 ×10 + 2.88sINFOobjective_server_nodename: "" ×10 + 2.88sINFOobjective_server_nodeinstance_id: "" ×10 + 2.88sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 23 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_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 + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.88sINFOobjective_server_nodecaller: ×10 + 2.88sINFOobjective_server_nodetype: 0 ×10 + 2.88sINFOobjective_server_nodename: "" ×10 + 2.88sINFOobjective_server_nodeinstance_id: "" ×10 + 2.88sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 23 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180863 ms (missed cycles : 2).[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_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 + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 1.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.88sINFOobjective_server_nodecaller: ×10 + 2.88sINFOobjective_server_nodetype: 0 ×10 + 2.88sINFOobjective_server_nodename: "" ×10 + 2.88sINFOobjective_server_nodeinstance_id: "" ×10 + 2.88sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.92sINFOmove_groupClearing octomap...[0m ×4 + 2.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×4 + 2.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 warnings · 326 info |
+ 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.05sWARNros2_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 + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.39sINFOobjective_server_nodecaller: ×10 + 2.39sINFOobjective_server_nodetype: 0 ×10 + 2.39sINFOobjective_server_nodename: "" ×10 + 2.39sINFOobjective_server_nodeinstance_id: "" ×10 + 2.39sINFOobjective_server_node ×10 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.43sINFOmove_groupClearing octomap...[0m ×4 + 2.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×4 + 2.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_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 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
▾
/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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 26 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331081 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331081 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
▾
/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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||
| − 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 6.397695 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397695 ms (missed cycles : 4).[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706469 ms (missed cycles : 2).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664889.04523301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.68sINFOmove_groupClearing octomap...[0m ×4 + 1.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×4 + 1.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664889.05544877 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143301 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664889.63304186 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664889.64317560 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664890.21970630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664890.37042570 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739009 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664890.97613120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664891.04626083 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035613 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789664891.62357116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062625 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sINFOjoint_trajectory_controllerReceived new action goal + 5.64sINFOjoint_trajectory_controllerAccepted new action goal + 5.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_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 | ||||