80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.2s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 30 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 1.75sINFOjoint_trajectory_controllerGoal reached, success! + 1.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.35sINFOobjective_server_nodecaller: ×6 + 2.35sINFOobjective_server_nodetype: 0 ×6 + 2.35sINFOobjective_server_nodename: "" ×6 + 2.35sINFOobjective_server_nodeinstance_id: "" ×6 + 2.35sINFOobjective_server_node ×6 + 2.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sWARNobjective_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 + 3.08sERRORobjective_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 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 4.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.05sINFOmove_groupClearing octomap...[0m ×2 + 5.05sINFOmove_groupOctomap cleared.[0m ×2 + 5.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2).[0m ×2 + 7.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789665407.91221619 seconds ×3 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 27 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862257 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862257 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700684 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700684 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786708 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786708 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735722 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735722 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789665394.75604391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sWARNobjective_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 + 4.00sERRORobjective_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. ×3 + 4.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789665395.47620273 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761870 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761870 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789665396.07346129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724198 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724198 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459759 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459759 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 39 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 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: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665383.44513702 seconds ×3 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665384.04916763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789665384.77138162 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2).[0m ×2 + 5.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426555 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426555 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958538 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958538 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 36 warnings · 275 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 1.46sINFOjoint_trajectory_controllerGoal reached, success! + 1.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.03sINFOobjective_server_nodecaller: ×10 + 2.03sINFOobjective_server_nodetype: 0 ×10 + 2.03sINFOobjective_server_nodename: "" ×10 + 2.03sINFOobjective_server_nodeinstance_id: "" ×10 + 2.03sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.78sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 + 6.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665383.44513702 seconds ×3 + 7.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665384.04916763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 18 errors · 36 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.669ms + 0.61sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.107ms + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 2.50sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.07sINFOobjective_server_nodecaller: ×8 + 3.07sINFOobjective_server_nodetype: 0 ×8 + 3.07sINFOobjective_server_nodename: "" ×8 + 3.07sINFOobjective_server_nodeinstance_id: "" ×8 + 3.07sINFOobjective_server_node ×8 + 3.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 3.81sWARNobjective_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 + 3.82sERRORobjective_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 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 6.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 7.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.12sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.3s | 30 errors · 39 warnings · 275 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.30sINFOjoint_trajectory_controllerGoal reached, success! + 0.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.87sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.87sINFOobjective_server_nodecaller: ×10 + 0.87sINFOobjective_server_nodetype: 0 ×10 + 0.87sINFOobjective_server_nodename: "" ×10 + 0.87sINFOobjective_server_nodeinstance_id: "" ×10 + 0.87sINFOobjective_server_node ×10 + 0.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 0.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 1.61sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.62sERRORobjective_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 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665383.44513702 seconds ×3 + 6.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665384.04916763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789665384.77138162 seconds ×3 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2).[0m ×2 + 7.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✕ 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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 141 warnings · 389 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.62sINFOmove_groupClearing octomap...[0m ×4 + 0.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.62sINFOmove_groupOctomap cleared.[0m ×4 + 0.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_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 + 2.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918484 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918484 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672104 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672104 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027102 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027102 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571127 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571127 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985269 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985269 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898602 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898602 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719186 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719186 ms (missed cycles : 2).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983355 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983355 ms (missed cycles : 2).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828394 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828394 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230720 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230720 ms (missed cycles : 2).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016577 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016577 ms (missed cycles : 2).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970400 ms (missed cycles : 4). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970400 ms (missed cycles : 4).[0m ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704056 ms (missed cycles : 4). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704056 ms (missed cycles : 4).[0m ×2 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033780 ms (missed cycles : 2). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033780 ms (missed cycles : 2).[0m ×2 + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923419 ms (missed cycles : 3). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923419 ms (missed cycles : 3).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141251 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141251 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777272 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777272 ms (missed cycles : 2).[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833760 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833760 ms (missed cycles : 2).[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301815 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301815 ms (missed cycles : 2).[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620590 ms (missed cycles : 2). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620590 ms (missed cycles : 2).[0m ×2 + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764800 ms (missed cycles : 3). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764800 ms (missed cycles : 3).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645575 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645575 ms (missed cycles : 2).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739763 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739763 ms (missed cycles : 2).[0m ×2 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233136 ms (missed cycles : 2). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233136 ms (missed cycles : 2).[0m ×2 + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542764 ms (missed cycles : 4). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542764 ms (missed cycles : 4).[0m ×2 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368572 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368572 ms (missed cycles : 2).[0m ×2 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654370 ms (missed cycles : 4). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654370 ms (missed cycles : 4).[0m ×2 + 35.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829364 ms (missed cycles : 3). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829364 ms (missed cycles : 3).[0m ×2 + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313821 ms (missed cycles : 4). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313821 ms (missed cycles : 4).[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255557 ms (missed cycles : 2). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255557 ms (missed cycles : 2).[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529003 ms (missed cycles : 3). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529003 ms (missed cycles : 3).[0m ×2 + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730460 ms (missed cycles : 3). + 40.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730460 ms (missed cycles : 3).[0m ×2 + 41.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738456 ms (missed cycles : 4). + 41.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738456 ms (missed cycles : 4).[0m ×2 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054674 ms (missed cycles : 2). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054674 ms (missed cycles : 2).[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651984 ms (missed cycles : 2). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651984 ms (missed cycles : 2).[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2).[0m ×2 + 45.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2).[0m ×2 + 46.11sINFOjoint_trajectory_controllerGoal reached, success! + 46.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789665372.07281160 seconds ×3 + 46.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920587 ms (missed cycles : 3). + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920587 ms (missed cycles : 3).[0m ×2 + 46.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789665372.65653920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2).[0m ×2 + 47.78sINFOobjective_server_nodeFound path in 0 iterations (2.2098e-05 s). ×2 + 47.84sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2).[0m ×2 + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4).[0m ×2 + 49.85sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.669ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 108 errors · 30 warnings · 491 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.04sINFOmove_groupClearing octomap...[0m ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×2 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789665407.91221619 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360306 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360306 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789665408.49179029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789665409.27190471 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773230 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773230 ms (missed cycles : 3).[0m ×2 + 4.39sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217037 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217037 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779493 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779493 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026193 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026193 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107679 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107679 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134067 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134067 ms (missed cycles : 2).[0m ×2 + 9.69sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.73sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORweb_video_auth_proxy-38process has died [pid 10955, 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 + 9.74sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.74sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.75sERRORweb_bridge_auth_proxy-37process has died [pid 10954, 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 + 9.75sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.76sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.77sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.78sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.79sINFOvideo_server-36process has finished cleanly [pid 10953] ×2 + 9.79sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.80sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.81sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 9.82sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 9.83sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 9.84sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 9.85sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 9.87sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 9.88sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 9.88sINFOcontroller_managerShutdown request received.... + 9.88sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.88sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.88sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.88sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.88sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.88sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.88sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.88sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.88sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.88sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.88sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.88sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.88sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.88sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.88sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.88sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.88sINFOcontroller_managerShutting down the controller manager. + 9.89sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 9.91sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 9.92sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 9.92sERRORmove_group-24process has died [pid 10894, 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_qaffarmy --params-file /tmp/launch_params_xiz4gn_y --params-file /tmp/launch_params_lf40qlev --params-file /tmp/launch_params_rn_u0fdw --params-file /tmp/launch_params_ngosx2dg --params-file /tmp/launch_params_wfuyt6er']. ×2 + 9.93sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 9.94sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 9.95sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 9.96sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.97sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 9.98sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.99sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 9.99sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.99sINFOmap_serverDeactivating + 9.99sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.99sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 9.99sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 9.99sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 9.99sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 9.99sINFOlifecycle_manager_localization[34m[1mDeactivating amcl[0m[0m + 9.99sINFOamclDeactivating + 10.00sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.00sINFOmap_serverCleaning up + 10.00sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.00sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.00sINFOcontroller_serverDeactivating + 10.00sINFOlocal_costmap.local_costmapDeactivating + 10.00sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.00sINFOvideo_server2026/09/17 17:16:54 INF shutting down gracefully ×2 + 10.01sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOvideo_server2026/09/17 17:16:54 INF [WebRTC] closing ×2 + 10.01sINFOvideo_server2026/09/17 17:16:54 INF [RTSP] closing ×2 + 10.01sINFOvideo_server2026/09/17 17:16:54 INF waiting for running hooks ×2 + 10.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.01sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.01sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.01sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.01sERRORmove_groupStack trace (most recent call last) in thread 11564: ×2 + 10.01sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.01sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.01sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.01sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.01sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.01sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.01sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.01sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.01sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.01sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.01sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.01sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.01sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.01sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eedf70a63, in __clone ×2 + 10.01sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eedee3aa3, in ×2 + 10.01sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eee175db3, in ×2 + 10.01sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.01sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.01sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f5eee8d9b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.01sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5eee507620, in rclcpp::Rate::sleep() ×2 + 10.01sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5eee449d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.01sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5eee40b087, in ×2 + 10.01sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eee144390, in __cxa_throw ×2 + 10.01sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eee12ea54, in std::terminate() ×2 + 10.01sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eee1440d9, in ×2 + 10.01sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eee12eff4, in ×2 + 10.01sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eede6f8fe, in abort ×2 + 10.01sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eede8c27d, in raise ×2 + 10.01sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eedee5b2c, in pthread_kill ×2 + 10.01sERRORmove_groupAborted (Signal sent by tkill() 10894 0) ×2 + 10.02sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.02sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.02sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.02sINFOodom_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 + 10.02sINFOodom_qos_relay.pymain() ×2 + 10.02sINFOodom_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 + 10.02sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.02sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.02sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.02sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.02sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.02sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.02sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.02sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.02sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.02sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.02sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.02sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.02sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.02sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.02sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.07sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.08sINFOcontroller_serverCleaning up + 10.08sINFOlocal_costmap.local_costmapCleaning up + 10.09sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.09sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.10sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.12sINFOlifecycle_manager_localization[34m[1mDeactivating map_server[0m[0m + 10.12sERRORmap_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.12sERRORlifecycle_manager_localizationFailed to change state for node: map_server + 10.12sINFOlifecycle_manager_localization[34m[1mCleaning up amcl[0m[0m + 10.12sINFOlifecycle_manager_localization[34m[1mCleaning up map_server[0m[0m + 10.12sERRORmap_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.12sINFOlifecycle_manager_localization[34m[1mManaged nodes have been reset[0m[0m + 10.13sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.13sINFOsmoother_serverDeactivating + 10.13sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.14sINFOsmoother_serverCleaning up + 10.15sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.15sINFOplanner_serverDeactivating + 10.15sINFOglobal_costmap.global_costmapDeactivating + 10.23sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.23sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.23sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.23sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.23sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.23sINFOvelocity_smootherDeactivating + 10.23sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.35sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.35sINFOwaypoint_followerDeactivating + 10.35sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.46sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.46sINFObt_navigatorDeactivating + 10.46sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.57sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.57sINFObehavior_serverDeactivating + 10.57sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.59sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.59sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.60sINFOplanner_serverCleaning up + 10.62sINFOglobal_costmap.global_costmapCleaning up + 10.63sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.63sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.66sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.66sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.66sINFObt_navigatorCleaning up + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.69sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.69sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.69sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.69sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.69sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.69sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.69sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.69sINFOvelocity_smootherCleaning up + 10.69sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.69sINFOwaypoint_followerCleaning up + 10.72sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.73sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.73sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 10.73sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.73sINFObehavior_serverCleaning up + 10.79sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.79sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.79sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.79sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.81sINFObt_navigatorCompleted Cleaning up + 10.81sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.81sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.81sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.82sINFOtf2_web_republisher_node-35process has finished cleanly [pid 10952] ×2 + 10.82sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.88sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 10943] ×2 + 10.89sINFOui_teleop_bridge-33process has finished cleanly [pid 10950] ×2 + 10.89sINFOmove_joint_resampler_node-27process has finished cleanly [pid 10941] ×2 + 10.90sINFOexecute_objective_bridge-32process has finished cleanly [pid 10949] ×2 + 10.94sINFOparameter_manager_node-25process has finished cleanly [pid 10939] ×2 + 10.95sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 10874] ×2 + 10.96sINFOwaypoint_manager_node-26process has finished cleanly [pid 10940] ×2 + 10.97sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 10781] ×2 + 10.97sINFOcomponent_container_mt-31process has finished cleanly [pid 10946] ×2 + 10.98sINFOstatic_transform_publisher-8process has finished cleanly [pid 10780] ×2 + 10.98sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 10875] ×2 + 10.98sINFOstatic_transform_publisher-7process has finished cleanly [pid 10779] ×2 + 10.99sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.99sINFOlidar_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 + 10.99sINFOlidar_flattener.pymain() ×2 + 10.99sINFOlidar_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 + 10.99sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.99sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.99sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.99sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.99sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.99sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.99sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.99sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.00sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.03sINFOobjective_server_node[2026-09-17 17:16:56.137] [moveit_pro_license] [info] ×2 + 11.03sINFOobjective_server_node************************************************* ×4 + 11.03sINFOobjective_server_node* MoveIt Pro License ×2 + 11.03sINFOobjective_server_node* Application has successfully terminated ×2 + 11.03sINFOstatic_transform_publisher-3process has finished cleanly [pid 10775] ×2 + 11.04sERRORlidar_flattener.py-6process has died [pid 10778, 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_gjw_puz6']. ×2 + 11.06sERRORodom_qos_relay.py-5process has died [pid 10777, 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 + 11.08sINFOobjective_server_node_main-29process has finished cleanly [pid 10944] ×2 + 11.08sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.15sERRORcomponent_container_isolated-1process has died [pid 10773, 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_62gtukdi --params-file /tmp/launch_params_9xzb8ycv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.42sERRORcomponent_container_isolated-2process has died [pid 10774, 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_62gtukdi --params-file /tmp/launch_params_llct11wt -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.01sINFOodom_world_drift-4process has finished cleanly [pid 10776] ×2 + 12.01sINFOcomponent_container_mt-30process has finished cleanly [pid 10945] ×2 + 12.53sINFOweb_bridge-34process has finished cleanly [pid 10951] ×2 + 12.53sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 12.61sINFOros2_control_node-12process has finished cleanly [pid 10876] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 30 errors · 66 warnings · 273 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 1.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 1.93sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 + 2.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665383.44513702 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665384.04916763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789665384.77138162 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426555 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426555 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958538 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958538 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520659 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520659 ms (missed cycles : 3).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694473 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694473 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759104 ms (missed cycles : 4). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759104 ms (missed cycles : 4).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862257 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862257 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700684 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700684 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786708 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786708 ms (missed cycles : 3).[0m ×2 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735722 ms (missed cycles : 5). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735722 ms (missed cycles : 5).[0m ×2 + 13.96sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789665394.75604391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789665395.47620273 seconds ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761870 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761870 ms (missed cycles : 3).[0m ×2 + 15.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.23sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789665396.07346129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOjoint_trajectory_controllerReceived new action goal + 15.70sINFOjoint_trajectory_controllerAccepted new action goal + 15.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724198 ms (missed cycles : 3). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724198 ms (missed cycles : 3).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459759 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459759 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 48 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700684 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700684 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786708 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786708 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.66sINFOcontroller_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 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×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 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735722 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735722 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789665394.75604391 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 + 2.94sWARNobjective_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 `Plan Path Along Surface 3 Passes` did not succeed at time: 1789665395.47620273 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761870 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761870 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.55sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789665396.07346129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724198 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724198 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459759 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459759 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 9.33sINFOjoint_trajectory_controllerGoal reached, success! + 9.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 9.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 11.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.23sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 12.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 12.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.63sINFOmove_groupClearing octomap...[0m ×2 + 12.63sINFOmove_groupOctomap cleared.[0m ×2 + 12.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 18 errors · 48 warnings · 249 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651984 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651984 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789665372.07281160 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×9 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×9 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×18 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×18 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.95sINFOros2_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 4.920587 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920587 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.47sINFOobjective_server_nodecaller: ×8 + 3.47sINFOobjective_server_nodetype: 0 ×8 + 3.47sINFOobjective_server_nodename: "" ×8 + 3.47sINFOobjective_server_nodeinstance_id: "" ×8 + 3.47sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789665372.65653920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.2098e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.669ms + 7.07sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.107ms + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 8.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 8.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 9.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.53sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.58sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 10.27sWARNobjective_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 + 10.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 10.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 10.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.91sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 12.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.22sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 12.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.3s | 12 errors · 36 warnings · 221 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.59sINFOobjective_server_nodecaller: ×8 + 0.59sINFOobjective_server_nodetype: 0 ×8 + 0.59sINFOobjective_server_nodename: "" ×8 + 0.59sINFOobjective_server_nodeinstance_id: "" ×8 + 0.59sINFOobjective_server_node ×8 + 0.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sWARNobjective_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 + 1.33sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.30sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789665407.91221619 seconds ×3 + 6.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360306 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360306 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789665408.49179029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789665409.27190471 seconds ×3 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773230 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773230 ms (missed cycles : 3).[0m ×2 + 7.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217037 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217037 ms (missed cycles : 2).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779493 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779493 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.62sINFOmove_groupClearing octomap...[0m ×4 + 0.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.62sINFOmove_groupOctomap cleared.[0m ×4 + 0.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_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 + 2.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918484 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918484 ms (missed cycles : 2).[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 2.651984 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651984 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789665372.07281160 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_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 4.920587 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920587 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789665372.65653920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.2098e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.669ms | ||||
| − 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 2.651984 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651984 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790409 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710184 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789665372.07281160 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_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 4.920587 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920587 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789665372.65653920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620694 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.2098e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069340 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.669ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 errors · 30 warnings · 180 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740834 ms (missed cycles : 4).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.669ms + 0.61sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.107ms + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 2.50sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×7 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×14 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 3.81sWARNobjective_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 + 3.82sERRORobjective_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 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 6.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 33 warnings · 222 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 1.46sINFOjoint_trajectory_controllerGoal reached, success! + 1.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.03sINFOobjective_server_nodecaller: ×8 + 2.03sINFOobjective_server_nodetype: 0 ×8 + 2.03sINFOobjective_server_nodename: "" ×8 + 2.03sINFOobjective_server_nodeinstance_id: "" ×8 + 2.03sINFOobjective_server_node ×8 + 2.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.78sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 33 warnings · 222 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 1.46sINFOjoint_trajectory_controllerGoal reached, success! + 1.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.03sINFOobjective_server_nodecaller: ×8 + 2.03sINFOobjective_server_nodetype: 0 ×8 + 2.03sINFOobjective_server_nodename: "" ×8 + 2.03sINFOobjective_server_nodeinstance_id: "" ×8 + 2.03sINFOobjective_server_node ×8 + 2.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.78sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 33 warnings · 222 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 1.46sINFOjoint_trajectory_controllerGoal reached, success! + 1.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.03sINFOobjective_server_nodecaller: ×8 + 2.03sINFOobjective_server_nodetype: 0 ×8 + 2.03sINFOobjective_server_nodename: "" ×8 + 2.03sINFOobjective_server_nodeinstance_id: "" ×8 + 2.03sINFOobjective_server_node ×8 + 2.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.78sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 33 warnings · 222 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 1.46sINFOjoint_trajectory_controllerGoal reached, success! + 1.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.03sINFOobjective_server_nodecaller: ×8 + 2.03sINFOobjective_server_nodetype: 0 ×8 + 2.03sINFOobjective_server_nodename: "" ×8 + 2.03sINFOobjective_server_nodeinstance_id: "" ×8 + 2.03sINFOobjective_server_node ×8 + 2.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.78sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 33 warnings · 222 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849042 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447949 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 1.46sINFOjoint_trajectory_controllerGoal reached, success! + 1.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665378.13668680 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.03sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.03sINFOobjective_server_nodecaller: ×8 + 2.03sINFOobjective_server_nodetype: 0 ×8 + 2.03sINFOobjective_server_nodename: "" ×8 + 2.03sINFOobjective_server_nodeinstance_id: "" ×8 + 2.03sINFOobjective_server_node ×8 + 2.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665378.71752334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.469ms + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.78sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 33 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 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: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665383.44513702 seconds ×3 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665384.04916763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789665384.77138162 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2).[0m ×2 + 5.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 33 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 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: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665383.44513702 seconds ×3 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665384.04916763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789665384.77138162 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2).[0m ×2 + 5.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 33 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665379.42775488 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450391 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: 1789665380.10087180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665380.81106758 seconds ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106643 ms (missed cycles : 3).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665381.41522121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173183 ms (missed cycles : 5).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665382.11537385 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665382.72494531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547779 ms (missed cycles : 2).[0m ×2 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665383.44513702 seconds ×3 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791520 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665384.04916763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789665384.77138162 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289620 ms (missed cycles : 2).[0m ×2 + 5.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[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 4.531590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531590 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228264 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090781 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.45sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.45sINFOobjective_server_nodecaller: ×6 + 3.45sINFOobjective_server_nodetype: 0 ×6 + 3.45sINFOobjective_server_nodename: "" ×6 + 3.45sINFOobjective_server_nodeinstance_id: "" ×6 + 3.45sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 5.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.16sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 196 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665401.90360999 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626319 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.59sINFOobjective_server_nodecaller: ×6 + 0.59sINFOobjective_server_nodetype: 0 ×6 + 0.59sINFOobjective_server_nodename: "" ×6 + 0.59sINFOobjective_server_nodeinstance_id: "" ×6 + 0.59sINFOobjective_server_node ×6 + 0.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665402.48853922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sWARNobjective_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 + 1.33sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665403.17869496 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913282 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665403.80817628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808575 ms (missed cycles : 2).[0m ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665404.54833817 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665405.15208530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.30sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036493 ms (missed cycles : 2).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649193 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894036 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789665407.91221619 seconds ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.8s | 77 errors · 500 warnings · 2514 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/2026-09-17-17-13-10-515579-07f0095eea07-7623 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.92sINFOros2_control_node-12process started with pid [7776] + 4.92sINFOmove_group-24process started with pid [7792] + 4.92sINFOparameter_manager_node-25process started with pid [7846] + 4.92sINFOwaypoint_manager_node-26process started with pid [7847] + 4.92sINFOmove_joint_resampler_node-27process started with pid [7848] + 4.92sINFOmove_end_effector_resampler_node-28process started with pid [7869] + 4.92sINFOobjective_server_node_main-29process started with pid [7870] + 4.92sINFOcomponent_container_mt-30process started with pid [7871] + 4.92sINFOcomponent_container_mt-31process started with pid [7872] + 4.92sINFOexecute_objective_bridge-32process started with pid [7873] + 4.92sINFOui_teleop_bridge-33process started with pid [7874] + 4.92sINFOweb_bridge-34process started with pid [7876] + 4.92sINFOtf2_web_republisher_node-35process started with pid [7877] + 4.92sINFOvideo_server-36process started with pid [7878] + 4.92sINFOweb_bridge_auth_proxy-37process started with pid [7879] + 4.92sINFOweb_video_auth_proxy-38process started with pid [7880] + 4.92sINFOcomponent_container_isolated-1process started with pid [7673] + 4.92sINFOcomponent_container_isolated-2process started with pid [7674] + 4.92sINFOstatic_transform_publisher-3process started with pid [7675] + 4.92sINFOodom_world_drift-4process started with pid [7676] + 4.92sINFOodom_qos_relay.py-5process started with pid [7677] + 4.92sINFOlidar_flattener.py-6process started with pid [7678] + 4.92sINFOstatic_transform_publisher-7process started with pid [7679] + 4.92sINFOstatic_transform_publisher-8process started with pid [7680] + 4.92sINFOscan_to_scan_filter_chain-9process started with pid [7681] + 4.92sINFOscan_to_scan_filter_chain-10process started with pid [7774] + 4.92sINFOfixed_lag_smoother_node-11process started with pid [7775] + 4.92sINFOros2-13process started with pid [7777] + 4.92sINFOros2-14process started with pid [7778] + 4.92sINFOros2-15process started with pid [7779] + 4.92sINFOros2-16process started with pid [7780] + 4.93sINFOros2-17process started with pid [7781] + 4.93sINFOros2-18process started with pid [7782] + 4.93sINFOros2-19process started with pid [7783] + 4.93sINFOros2-20process started with pid [7788] + 4.93sINFOros2-21process started with pid [7789] + 4.93sINFOros2-22process started with pid [7790] + 4.93sINFOros2-23process started with pid [7791] + 4.94sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 4.94sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 4.94sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 4.94sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 4.94sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 4.94sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 4.94sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 4.94sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 4.95sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 4.95sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 4.95sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 4.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 4.95sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 4.95sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 4.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 4.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 4.95sWARNros2_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 + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118592 ms (missed cycles : 2).[0m + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.29sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.39sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.55sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.56sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.56sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.56sINFOvideo_server2026/09/17 17:13:17 INF MediaMTX v1.20.1, linux, amd64 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.59sINFOvideo_server2026/09/17 17:13:17 INF configuration loaded from /tmp/moveit-webrtc-x1dyvbx8/mediamtx.yml + 5.59sINFOvideo_server2026/09/17 17:13:17 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.59sINFOvideo_server2026/09/17 17:13:17 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.61sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.61sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.62sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.67sWARNscan_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 + 5.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.82sINFOmove_groupLoaded robot model in 0.301795 seconds[0m + 5.82sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.83sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.93sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×5 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008370 ms (missed cycles : 6).[0m + 6.26sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.27sWARNmove_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 + 6.27sWARNmove_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 + 6.27sWARNmove_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 + 6.27sWARNmove_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 + 6.27sWARNmove_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 + 6.27sWARNmove_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 + 6.28sWARNmove_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 + 6.28sWARNmove_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 + 6.28sWARNmove_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 + 6.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.57sINFOwaypoint_manager_nodeLoaded robot model in 0.227539 seconds[0m + 6.57sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.57sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.71sINFOmove_group[2026-09-17 17:13:18.781] [moveit_pro_license] [info] + 6.71sINFOmove_group************************************************* ×6 + 6.71sINFOmove_group* MoveIt Pro License ×3 + 6.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.93sWARNwaypoint_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 + 6.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.02sINFOros2_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 + 7.02sINFOros2_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 + 7.09sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.09sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.09sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.10sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.10sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.10sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.10sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.10sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.10sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.10sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.10sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907266 ms (missed cycles : 2).[0m + 7.23sINFOwaypoint_manager_node[2026-09-17 17:13:19.304] [moveit_pro_license] [info] + 7.23sINFOwaypoint_manager_node************************************************* ×6 + 7.23sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.62sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.62sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.63sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.87sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.87sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.87sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.87sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 7.87sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.87sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.87sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.87sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.87sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.87sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.87sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.87sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.87sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.87sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.87sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.87sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.87sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.87sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.87sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.87sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.87sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.87sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.87sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.87sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.94sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 7.94sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.02sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.03sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.03sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.03sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.03sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.03sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.04sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.04sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.04sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.04sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.04sINFOcomponent_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 + 8.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 8.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 8.16sINFOobjective_server_node[2026-09-17 17:13:20.232] [moveit_pro_license] [info] + 8.16sINFOobjective_server_node************************************************* ×8 + 8.16sINFOobjective_server_node* MoveIt Pro License ×4 + 8.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 8.17sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.17sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.17sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 8.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801990 ms (missed cycles : 2).[0m + 8.22sINFOobjective_server_nodeLoaded robot model in 0.0286565 seconds[0m + 8.22sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.22sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.27sINFOcomponent_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 + 8.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.44sWARNcomponent_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 + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.65sINFOros2_control_node[2026-09-17 17:13:20.720] [warning] No force/torque sensor configured. The VFC will ignore force references. + 8.65sINFOros2_control_node[2026-09-17 17:13:20.723] [info] Controller state will be published at 10 Hz. + 8.65sINFOros2_control_node[2026-09-17 17:13:20.725] [info] VelocityForceController 'on_configure' succeeded. + 8.72sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.80sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 8.80sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.82sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.84sINFOcomponent_container_mtLoaded robot model in 0.401165 seconds[0m + 8.84sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.85sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 8.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 8.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 8.96sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 8.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 8.98sINFOros2-20process has finished cleanly [pid 7788] + 8.99sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.99sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 9.00sINFOros2_control_nodeconfigure successful[0m ×9 + 9.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 9.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 9.01sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 9.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.09sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.11sINFOmove_group ×12 + 9.11sINFOmove_group******************************************************** ×6 + 9.11sINFOmove_group* MoveGroup using: ×3 + 9.11sINFOmove_group* - apply_planning_scene_service ×3 + 9.11sINFOmove_group* - clear_octomap_service ×3 + 9.11sINFOmove_group* - get_group_urdf ×3 + 9.11sINFOmove_group* - load_geometry_from_file ×3 + 9.11sINFOmove_group* - get_planning_scene_service ×3 + 9.11sINFOmove_group* - kinematics_service ×3 + 9.11sINFOmove_group* - save_geometry_to_file ×3 + 9.11sINFOmove_group* - GetPlanningGroups ×3 + 9.11sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.11sINFOmove_group[0m ×3 + 9.11sINFOmove_group[92mYou can start planning now![0m ×3 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.31sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 9.31sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 9.31sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 9.34sINFOros2-13process has finished cleanly [pid 7777] + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891566 ms (missed cycles : 3).[0m + 9.37sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 9.37sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 9.38sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 9.38sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 9.46sINFOcomponent_container_mt[2026-09-17 17:13:21.534] [moveit_pro_license] [info] + 9.46sINFOcomponent_container_mt************************************************* ×6 + 9.46sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.46sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.68sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 9.68sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 9.71sINFOros2-14process has finished cleanly [pid 7778] + 9.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 9.78sWARNros2_control_nodeCamera render tick took 0.84 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.79sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.79sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.80sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.80sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 9.80sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 9.81sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.81sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.07sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 10.17sINFOros2_control_node[2026-09-17 17:13:22.249] [info] Controller state will be published at 20 Hz. + 10.17sINFOros2_control_node[2026-09-17 17:13:22.250] [info] JointVelocityController 'on_configure' succeeded. + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055908 ms (missed cycles : 2).[0m + 10.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.48sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 10.49sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 10.51sINFOros2-22process has finished cleanly [pid 7790] + 10.55sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 10.55sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 10.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 10.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 10.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 10.89sINFOros2-18process has finished cleanly [pid 7782] + 10.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 10.92sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 10.92sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 10.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 10.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 10.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 10.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.23sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.23sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 11.23sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 11.26sINFOros2-17process has finished cleanly [pid 7781] + 11.28sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 11.28sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221084 ms (missed cycles : 4).[0m + 11.63sINFOros2_control_node[2026-09-17 17:13:23.706] [info] Controller state will be published at 20 Hz. + 11.63sINFOros2_control_node[2026-09-17 17:13:23.707] [info] JointVelocityController 'on_configure' succeeded. + 11.95sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.96sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.96sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 11.97sINFOros2-23process has finished cleanly [pid 7791] + 12.01sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 12.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 12.35sINFOros2_control_node[2026-09-17 17:13:24.429] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.36sINFOros2_control_node[2026-09-17 17:13:24.431] [info] Controller state will be published at 10 Hz. + 12.36sINFOros2_control_node[2026-09-17 17:13:24.432] [info] VelocityForceController 'on_configure' succeeded. + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904325 ms (missed cycles : 2).[0m + 12.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 12.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 12.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 12.70sINFOros2-21process has finished cleanly [pid 7789] + 12.72sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 12.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 12.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 12.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 12.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 13.06sINFOros2-15process has finished cleanly [pid 7779] + 13.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 13.06sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 13.12sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 13.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 13.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 13.13sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.45sINFOros2-16process has finished cleanly [pid 7780] + 13.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 13.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 13.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vzuh3nc2 --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_w6w83v5w --params-file /tmp/launch_params_1knsr9zb [0m + 13.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 13.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 13.57sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 13.57sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 13.57sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 13.57sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 13.57sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 13.57sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788805 ms (missed cycles : 2).[0m + 13.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.89sINFOros2-19process has finished cleanly [pid 7783] + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052275 ms (missed cycles : 2).[0m + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603286 ms (missed cycles : 2).[0m + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623423 ms (missed cycles : 4).[0m + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226164 ms (missed cycles : 2).[0m + 17.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933842 ms (missed cycles : 2).[0m + 18.99sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.99sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.99sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.99sINFOobjective_server_nodecaller: ×27 + 18.99sINFOobjective_server_nodetype: 0 ×27 + 18.99sINFOobjective_server_nodename: "" ×27 + 18.99sINFOobjective_server_nodeinstance_id: "" ×27 + 18.99sINFOobjective_server_node ×27 + 19.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665211.10264778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.03sINFOmove_groupClearing octomap...[0m ×7 + 19.03sINFOmove_groupOctomap cleared.[0m ×7 + 19.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665211.11282301 seconds + 19.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665211.69054222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665211.70067358 seconds + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863821 ms (missed cycles : 2).[0m + 20.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665212.27596068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665212.42651606 seconds + 20.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665213.02422166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099628 ms (missed cycles : 2).[0m + 20.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 20.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 21.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 21.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665213.09434724 seconds + 21.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665213.68773770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587877 ms (missed cycles : 2).[0m + 22.67sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.97sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.97sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749503 ms (missed cycles : 3).[0m + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892443 ms (missed cycles : 2).[0m + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982627 ms (missed cycles : 3).[0m + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817235 ms (missed cycles : 2).[0m + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277379 ms (missed cycles : 2).[0m + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916333 ms (missed cycles : 4).[0m + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347954 ms (missed cycles : 3).[0m + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426115 ms (missed cycles : 3).[0m + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401333 ms (missed cycles : 2).[0m + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214555 ms (missed cycles : 2).[0m + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503918 ms (missed cycles : 3).[0m + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581553 ms (missed cycles : 2).[0m + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005117 ms (missed cycles : 2).[0m + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809251 ms (missed cycles : 2).[0m + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863603 ms (missed cycles : 2).[0m + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838496 ms (missed cycles : 2).[0m + 40.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711943 ms (missed cycles : 3).[0m + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231607 ms (missed cycles : 2).[0m + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072782 ms (missed cycles : 3).[0m + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944831 ms (missed cycles : 3).[0m + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914190 ms (missed cycles : 2).[0m + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853897 ms (missed cycles : 2).[0m + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870711 ms (missed cycles : 2).[0m + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997436 ms (missed cycles : 2).[0m + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744269 ms (missed cycles : 2).[0m + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069837 ms (missed cycles : 2).[0m + 50.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951994 ms (missed cycles : 2).[0m + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594291 ms (missed cycles : 3).[0m + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446800 ms (missed cycles : 2).[0m + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665521 ms (missed cycles : 3).[0m + 55.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916136 ms (missed cycles : 2).[0m + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775107 ms (missed cycles : 2).[0m + 57.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769374 ms (missed cycles : 2).[0m + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887633 ms (missed cycles : 3).[0m + 59.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938409 ms (missed cycles : 2).[0m + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603743 ms (missed cycles : 4).[0m + 61.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359118 ms (missed cycles : 2).[0m + 62.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741500 ms (missed cycles : 2).[0m + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014270 ms (missed cycles : 2).[0m + 64.54sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789665256.65268373 seconds + 64.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789268 ms (missed cycles : 4).[0m + 65.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789665257.23622823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 66.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405488 ms (missed cycles : 3).[0m + 66.21sINFOobjective_server_nodeFound path in 0 iterations (8.9102e-05 s). + 66.27sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 67.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984185 ms (missed cycles : 4).[0m + 68.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463265 ms (missed cycles : 2).[0m + 69.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515639 ms (missed cycles : 3).[0m + 70.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808913 ms (missed cycles : 3).[0m + 70.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789665262.72635484 seconds + 71.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789665263.30533004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824685 ms (missed cycles : 2).[0m + 72.00sWARNobjective_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. ×8 + 72.01sERRORobjective_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. ×8 + 72.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789665264.08552098 seconds + 72.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591416 ms (missed cycles : 2).[0m + 72.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789665264.75850773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789665265.58867550 seconds + 73.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830396 ms (missed cycles : 2).[0m + 74.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789665266.19644618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789665266.88663340 seconds + 74.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702358 ms (missed cycles : 2).[0m + 75.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789665267.50729084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278880 ms (missed cycles : 2).[0m + 76.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789665268.21744657 seconds + 76.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.77sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789665268.84421301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097774 ms (missed cycles : 4).[0m + 77.26sWARNros2_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 + 77.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789665269.61437535 seconds + 78.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732819 ms (missed cycles : 2).[0m + 79.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100267 ms (missed cycles : 2).[0m + 80.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513761 ms (missed cycles : 2).[0m + 81.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228554 ms (missed cycles : 2).[0m + 82.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042348 ms (missed cycles : 2).[0m + 83.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575621 ms (missed cycles : 3).[0m + 84.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348206 ms (missed cycles : 2).[0m + 85.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688994 ms (missed cycles : 2).[0m + 86.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819060 ms (missed cycles : 2).[0m + 87.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789665279.47814083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879970 ms (missed cycles : 2).[0m + 88.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789665280.20832944 seconds + 88.69sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.73sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789665280.80728340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430502 ms (missed cycles : 4).[0m + 90.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993607 ms (missed cycles : 2).[0m + 91.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752268 ms (missed cycles : 2).[0m + 92.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035676 ms (missed cycles : 2).[0m + 93.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294513 ms (missed cycles : 2).[0m + 94.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722784 ms (missed cycles : 3).[0m + 94.56sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789665286.63743162 seconds + 95.10sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789665287.21424007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395128 ms (missed cycles : 3).[0m + 95.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789665287.92440057 seconds + 96.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789665288.53257918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758438 ms (missed cycles : 3).[0m + 97.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789665289.24275017 seconds + 97.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 97.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805952 ms (missed cycles : 3).[0m + 97.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789665289.83823347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846717 ms (missed cycles : 2).[0m + 99.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985855 ms (missed cycles : 2).[0m +100.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789665292.17835879 seconds +100.64sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +100.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789665292.75157380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309338 ms (missed cycles : 2).[0m +101.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789665293.49169827 seconds +101.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +102.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953986 ms (missed cycles : 2).[0m +103.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924560 ms (missed cycles : 2).[0m +104.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008554 ms (missed cycles : 2).[0m +105.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845774 ms (missed cycles : 2).[0m +106.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011900 ms (missed cycles : 4).[0m +107.23sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.24sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.25sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.26sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.26sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] +107.26sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.26sERRORweb_video_auth_proxy-38process has died [pid 7880, 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']. +107.26sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.27sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.27sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.27sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.27sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] +107.28sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.28sERRORweb_bridge_auth_proxy-37process has died [pid 7879, 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']. +107.28sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.28sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.28sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.28sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] +107.29sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] +107.30sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] +107.31sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] +107.32sINFOvideo_server-36process has finished cleanly [pid 7878] +107.32sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] +107.33sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] +107.34sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +107.35sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] +107.36sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] +107.37sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] +107.39sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] +107.40sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] +107.41sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] +107.43sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] +107.44sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] +107.45sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +107.46sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +107.46sERRORmove_group-24process has died [pid 7792, 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_m5xsya3e --params-file /tmp/launch_params_nynhh255 --params-file /tmp/launch_params_4gaxe9x4 --params-file /tmp/launch_params_nk42210x --params-file /tmp/launch_params_r9d530kq --params-file /tmp/launch_params_w4_9ehq2']. +107.47sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +107.48sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +107.49sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +107.50sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +107.51sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] +107.52sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system +107.53sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +107.54sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +107.55sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +107.55sINFOvideo_server2026/09/17 17:14:59 INF shutting down gracefully +107.55sINFOvideo_server2026/09/17 17:14:59 INF [WebRTC] closing +107.55sINFOvideo_server2026/09/17 17:14:59 INF [RTSP] closing +107.55sINFOvideo_server2026/09/17 17:14:59 INF waiting for running hooks +107.55sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +107.55sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOcomponent_container_mtStopping planning scene monitor[0m +107.55sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +107.55sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +107.55sERRORmove_groupwhat(): context cannot be slept with because it's invalid +107.55sERRORmove_groupStack trace (most recent call last) in thread 8456: +107.55sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +107.55sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f024aa63, in __clone +107.55sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f01bdaa3, in +107.55sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f044fdb3, in +107.55sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f04f0bb3b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +107.55sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f07e1620, in rclcpp::Rate::sleep() +107.55sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f0723d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +107.55sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f06e5087, in +107.55sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f041e390, in __cxa_throw +107.55sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +107.55sINFOros2_control_nodeShutdown request received....[0m +107.55sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +107.55sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +107.55sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +107.55sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +107.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +107.55sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +107.55sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +107.55sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +107.55sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +107.55sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +107.55sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +107.55sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +107.55sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +107.55sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +107.55sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +107.55sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +107.55sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +107.55sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +107.55sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +107.55sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +107.55sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +107.55sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +107.55sINFOros2_control_nodeShutting down the controller manager.[0m +107.55sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +107.55sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f0408a54, in std::terminate() +107.55sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f041e0d9, in +107.55sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f0408ff4, in +107.55sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f01498fe, in abort +107.55sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f016627d, in raise +107.55sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f01bfb2c, in pthread_kill +107.55sERRORmove_groupAborted (Signal sent by tkill() 7792 0) +107.55sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +107.56sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +107.56sERRORodom_qos_relay.pyTraceback (most recent call last): +107.56sINFOodom_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> +107.56sINFOodom_qos_relay.pymain() +107.56sINFOodom_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 +107.56sINFOodom_qos_relay.pyrclpy.spin(node) +107.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +107.56sINFOodom_qos_relay.pyexecutor.spin_once() +107.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +107.56sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +107.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +107.56sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +107.56sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +107.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +107.56sINFOodom_qos_relay.pyreturn next(self._cb_iter) +107.56sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +107.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +107.56sINFOodom_qos_relay.pyraise ExternalShutdownException() +107.56sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +107.56sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m +107.56sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +107.64sINFOros2_control_nodeAsync messages lost 0[0m ×2 +107.64sINFOros2_control_nodepublish_async_failures_ 0[0m +107.64sINFOros2_control_nodepublish_async_failures_ 1[0m +108.36sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7877] +108.36sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system +108.43sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7869] +108.43sINFOui_teleop_bridge-33process has finished cleanly [pid 7874] +108.44sINFOexecute_objective_bridge-32process has finished cleanly [pid 7873] +108.44sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7848] +108.48sINFOparameter_manager_node-25process has finished cleanly [pid 7846] +108.49sINFOwaypoint_manager_node-26process has finished cleanly [pid 7847] +108.50sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7774] +108.51sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7681] +108.51sINFOcomponent_container_mt-31process has finished cleanly [pid 7872] +108.52sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 7775] +108.52sINFOstatic_transform_publisher-8process has finished cleanly [pid 7680] +108.53sINFOstatic_transform_publisher-7process has finished cleanly [pid 7679] +108.53sERRORlidar_flattener.pyTraceback (most recent call last): +108.53sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +108.54sINFOlidar_flattener.pymain() +108.54sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +108.54sINFOlidar_flattener.pyrclpy.spin(node) +108.54sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.54sINFOlidar_flattener.pyexecutor.spin_once() +108.54sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.54sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +108.54sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.54sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.54sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.54sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.54sINFOlidar_flattener.pyreturn next(self._cb_iter) +108.54sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +108.54sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.54sINFOlidar_flattener.pyraise ExternalShutdownException() +108.54sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +108.56sINFOobjective_server_node[2026-09-17 17:15:00.635] [moveit_pro_license] [info] +108.56sINFOobjective_server_node* Application has successfully terminated +108.57sINFOstatic_transform_publisher-3process has finished cleanly [pid 7675] +108.58sERRORlidar_flattener.py-6process has died [pid 7678, 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_jw2vdkr8']. +108.60sERRORodom_qos_relay.py-5process has died [pid 7677, 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']. +108.62sERRORcomponent_container_isolated-1process has died [pid 7673, 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_e4l9aosz --params-file /tmp/launch_params_bs58bb8b -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +108.62sINFOobjective_server_node_main-29process has finished cleanly [pid 7870] +108.62sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system +109.55sINFOodom_world_drift-4process has finished cleanly [pid 7676] +109.56sINFOcomponent_container_mt-30process has finished cleanly [pid 7871] +109.96sERRORcomponent_container_isolated-2process has died [pid 7674, 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_e4l9aosz --params-file /tmp/launch_params_c7qakn4n -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.07sINFOweb_bridge-34process has finished cleanly [pid 7876] +110.07sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system +110.16sINFOros2_control_node-12process has finished cleanly [pid 7776] +115.68sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-17-15-06-172109-07f0095eea07-10723 ×2 +120.27sINFOstatic_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' +120.27sINFOstatic_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' +120.28sINFOstatic_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' +120.48sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +120.51sINFOros2_control_node-12process started with pid [10876] ×2 +120.51sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +120.51sINFOmove_group-24process started with pid [10894] ×2 +120.51sINFOparameter_manager_node-25process started with pid [10939] ×2 +120.51sINFOwaypoint_manager_node-26process started with pid [10940] ×2 +120.51sINFOmove_joint_resampler_node-27process started with pid [10941] ×2 +120.51sINFOmove_end_effector_resampler_node-28process started with pid [10943] ×2 +120.51sINFOobjective_server_node_main-29process started with pid [10944] ×2 +120.51sINFOcomponent_container_mt-30process started with pid [10945] ×2 +120.51sINFOcomponent_container_mt-31process started with pid [10946] ×2 +120.51sINFOexecute_objective_bridge-32process started with pid [10949] ×2 +120.51sINFOui_teleop_bridge-33process started with pid [10950] ×2 +120.51sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +120.51sINFOweb_bridge-34process started with pid [10951] ×2 +120.51sINFOtf2_web_republisher_node-35process started with pid [10952] ×2 +120.51sINFOvideo_server-36process started with pid [10953] ×2 +120.51sINFOweb_bridge_auth_proxy-37process started with pid [10954] ×2 +120.51sINFOweb_video_auth_proxy-38process started with pid [10955] ×2 +120.51sINFOcomponent_container_isolated-1process started with pid [10773] ×2 +120.51sINFOcomponent_container_isolated-2process started with pid [10774] ×2 +120.52sINFOstatic_transform_publisher-3process started with pid [10775] ×2 +120.52sINFOodom_world_drift-4process started with pid [10776] ×2 +120.52sINFOodom_qos_relay.py-5process started with pid [10777] ×2 +120.52sINFOlidar_flattener.py-6process started with pid [10778] ×2 +120.52sINFOstatic_transform_publisher-7process started with pid [10779] ×2 +120.52sINFOstatic_transform_publisher-8process started with pid [10780] ×2 +120.52sINFOscan_to_scan_filter_chain-9process started with pid [10781] ×2 +120.52sINFOscan_to_scan_filter_chain-10process started with pid [10874] ×2 +120.52sINFOfixed_lag_smoother_node-11process started with pid [10875] ×2 +120.52sINFOros2-13process started with pid [10877] ×2 +120.54sINFOros2-14process started with pid [10878] ×2 +120.54sINFOros2-15process started with pid [10879] ×2 +120.54sINFOros2-16process started with pid [10880] ×2 +120.54sINFOros2-17process started with pid [10881] ×2 +120.54sINFOros2-18process started with pid [10882] ×2 +120.54sINFOros2-19process started with pid [10885] ×2 +120.54sINFOros2-20process started with pid [10886] ×2 +120.54sINFOros2-21process started with pid [10889] ×2 +120.54sINFOros2-22process started with pid [10890] ×2 +120.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +120.54sINFOros2-23process started with pid [10893] ×2 +120.54sINFOstate_estimatorReceived a set_pose request (stamp: 1789665312614348201, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +120.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +120.55sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +120.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +120.59sINFOcontroller_managerupdate rate is 600 Hz +120.60sINFOcontroller_managerOverruns handling is : enabled +120.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +120.60sWARNcontroller_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. +120.61sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +120.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +120.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +120.65sINFOcontroller_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. +120.69sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +120.69sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +120.69sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +120.69sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +120.72sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +120.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +120.74sINFOmap_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. +120.74sINFOmap_serverCreating +120.74sINFOcontroller_serverCreating controller server +120.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +120.75sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +120.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +120.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +120.78sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +120.79sINFOlocal_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. +120.80sINFOlocal_costmap.local_costmapCreating Costmap +120.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +120.84sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +120.85sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.85sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +120.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +120.88sINFOlifecycle_manager_localizationCreating +120.88sINFOrobot_state_publisherRobot initialized +120.89sINFOcontroller_managerReceived robot description from topic. +120.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +120.89sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +120.92sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +120.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +120.92sINFOvideo_server2026/09/17 17:15:12 INF MediaMTX v1.20.1, linux, amd64 ×2 +120.92sINFOvideo_server2026/09/17 17:15:12 INF configuration loaded from /tmp/moveit-webrtc-ds7k5k0t/mediamtx.yml ×2 +120.92sINFOvideo_server2026/09/17 17:15:12 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +120.92sINFOvideo_server2026/09/17 17:15:12 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +120.93sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +120.93sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +120.93sINFOmap_serverConfiguring +120.94sINFOsmoother_serverCreating smoother server +120.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +120.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +120.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +120.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +120.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +120.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.00sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +121.01sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +121.02sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +121.02sINFOamclConfiguring +121.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +121.02sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +121.02sINFOmap_serverActivating +121.03sINFOmap_serverCreating bond (map_server) to lifecycle manager. +121.04sINFOplanner_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. +121.08sINFOplanner_serverCreating +121.14sINFOlifecycle_manager_localizationServer map_server connected with bond. +121.14sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +121.14sINFOamclActivating +121.14sINFOamclSubscribed to initial_pose_topic: /initialpose +121.14sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +121.15sINFOamclSubscribed to map_topic: /map +121.15sINFOglobal_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. +121.15sINFOamclSubscribed to scan_topic: /scan_merged +121.15sINFOamclCreated reinitialize_global_localization service +121.16sINFOamclCreated request_nomotion_update service +121.16sINFOamclA new map was received +121.16sINFOamclInitializing particle filter instance +121.17sINFOglobal_costmap.global_costmapCreating Costmap +121.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +121.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.27sINFObehavior_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. +121.28sWARNlaser_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. +121.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +121.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.038961 ms (missed cycles : 7). +121.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.038961 ms (missed cycles : 7).[0m ×2 +121.38sINFObt_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. +121.39sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +121.41sINFObt_navigatorCreating +121.41sWARNlaser_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. +121.42sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.389512 seconds +121.42sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +121.42sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +121.42sINFOmove_groupLoaded robot model in 0.389512 seconds[0m ×2 +121.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +121.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.47sINFOwaypoint_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. +121.47sINFOwaypoint_followerCreating +121.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +121.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.52sINFOvelocity_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. +121.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.57sINFOlifecycle_manager_navigationCreating +121.59sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +121.62sINFOamclParticle filter initialization completed +121.62sINFOamclInitializing particles from estimated pose and covariance +121.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +121.63sINFOamclThe bond connection to the lifecycle manager is now fully formed +121.63sINFOlifecycle_manager_localizationServer amcl connected with bond. +121.63sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +121.63sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +121.67sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +121.67sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +121.67sINFOcontroller_serverConfiguring controller interface +121.67sINFOcontroller_servergetting progress checker plugins.. +121.67sINFOcontroller_servergetting goal checker plugins.. +121.67sINFOcontroller_serverController frequency set to 20.0000Hz +121.67sINFOlocal_costmap.local_costmapConfiguring +121.69sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +121.70sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +121.73sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +121.73sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +121.73sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +121.77sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +121.77sINFOcontroller_serverController Server has progress_checker progress checkers available. +121.77sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +121.78sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +121.78sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +121.79sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +121.81sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +121.81sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +121.81sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +121.81sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +121.81sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +121.81sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +121.82sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +121.82sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +121.82sINFOwaypoint_manager_nodeLoaded robot model in 0.364244 seconds[0m ×2 +121.83sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +121.83sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +121.83sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +121.84sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +121.84sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +121.84sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +121.84sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +121.85sINFOcontroller_serverOptimizer reset ×2 +121.87sINFOcontroller_serverController Server has FollowPath controllers available. +121.90sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +121.90sINFOsmoother_serverConfiguring smoother server +121.91sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +121.92sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +121.93sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +121.93sINFOplanner_serverConfiguring +121.93sINFOglobal_costmap.global_costmapConfiguring +121.94sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +121.94sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +121.95sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +121.95sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +121.95sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +121.97sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +121.97sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +121.97sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +122.00sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +122.00sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +122.00sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +122.01sINFOplanner_serverPlanner Server has GridBased planners available. +122.03sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +122.03sINFObehavior_serverConfiguring +122.03sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +122.04sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +122.04sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +122.04sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +122.05sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +122.05sINFObehavior_serverConfiguring spin +122.06sINFObehavior_serverConfiguring backup +122.07sINFObehavior_serverConfiguring drive_on_heading +122.07sINFObehavior_serverConfiguring assisted_teleop +122.08sINFObehavior_serverConfiguring wait +122.09sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +122.09sINFObt_navigatorConfiguring +122.10sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +122.11sWARNbt_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 +122.12sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +122.12sWARNmove_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. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sINFOwaypoint_followerConfiguring +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.27sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.28sWARNwaypoint_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. +122.30sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +122.30sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +122.30sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +122.30sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +122.30sINFOvelocity_smootherConfiguring velocity smoother +122.31sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +122.31sINFOcontroller_serverActivating +122.31sINFOlocal_costmap.local_costmapActivating +122.31sINFOlocal_costmap.local_costmapChecking transform +122.31sINFOlocal_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 ×2 +122.40sINFOmove_group[2026-09-17 17:15:14.471] [moveit_pro_license] [info] ×2 +122.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010633 ms (missed cycles : 2). +122.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010633 ms (missed cycles : 2).[0m ×2 +122.57sINFOwaypoint_manager_node[2026-09-17 17:15:14.648] [moveit_pro_license] [info] ×2 +122.84sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +122.84sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +122.84sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +122.84sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +122.84sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +122.84sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +122.85sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +122.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +122.85sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +122.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +122.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +123.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +123.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. +123.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +123.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +123.31sINFOlocal_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. ×2 +123.40sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +123.40sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +123.40sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +123.40sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +123.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036801 ms (missed cycles : 2). +123.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036801 ms (missed cycles : 2).[0m ×2 +123.44sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +123.44sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +123.44sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +123.45sINFOcontroller_managerSuccessfully switched controllers! ×20 +123.45sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +123.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +123.51sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +123.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +123.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +123.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +123.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +123.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +123.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +123.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +123.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +123.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +123.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +123.56sINFOstreaming_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) +123.56sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +123.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +123.74sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +123.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +123.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +123.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +123.77sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +123.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +123.77sINFOros2-14process has finished cleanly [pid 10878] ×2 +123.77sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +123.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +123.79sINFOstreaming_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) +123.80sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +123.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +123.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +123.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +123.84sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +123.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +123.90sINFOobjective_server_node[2026-09-17 17:15:15.979] [moveit_pro_license] [info] ×2 +123.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +123.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +123.99sINFOobjective_server_nodeLoaded robot model in 0.0380973 seconds[0m ×2 +124.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +124.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +124.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +124.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +124.18sINFOros2-15process has finished cleanly [pid 10879] ×2 +124.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +124.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +124.27sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +124.27sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +124.27sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +124.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +124.28sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +124.30sINFOcomponent_container_mtLoaded robot model in 0.337041 seconds[0m ×2 +124.31sINFOlocal_costmap.local_costmapstart +124.41sWARNcontroller_serverParameter controller_server.verbose not found +124.41sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +124.45sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.46sWARNobjective_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. +124.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757261 ms (missed cycles : 2). +124.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757261 ms (missed cycles : 2).[0m ×2 +124.52sINFOlifecycle_manager_navigationServer controller_server connected with bond. +124.52sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +124.52sINFOsmoother_serverActivating +124.52sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +124.62sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +124.62sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +124.62sINFOplanner_serverActivating +124.62sINFOglobal_costmap.global_costmapActivating +124.62sINFOglobal_costmap.global_costmapChecking transform +124.62sINFOglobal_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. +124.63sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +124.63sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +124.65sINFOros2-19process has finished cleanly [pid 10885] ×2 +124.73sWARNplanning_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. +124.73sWARNplanning_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. +124.73sWARNplanning_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. +124.73sWARNplanning_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. +124.73sWARNplanning_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. +124.73sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.74sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.75sWARNplanning_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. +124.78sINFOmove_groupMoveGroup debug mode is ON +124.78sWARNros2_control_nodeCamera render tick took 0.65 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 +124.79sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +124.79sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +124.82sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +124.83sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +124.86sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 10.034ms +124.87sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +124.87sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +124.95sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +124.95sINFOcomponent_container_mt[2026-09-17 17:15:17.028] [moveit_pro_license] [info] ×2 +124.97sINFOmove_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
********************************************************
+125.12sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789665317.184061, but only time 1789665317.208371 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +125.21sINFOros2_control_node[2026-09-17 17:15:17.282] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +125.21sINFOros2_control_node[2026-09-17 17:15:17.285] [info] Controller state will be published at 10 Hz. ×2 +125.21sINFOros2_control_node[2026-09-17 17:15:17.287] [info] VelocityForceController 'on_configure' succeeded. ×2 +125.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 +125.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783937 ms (missed cycles : 2). +125.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783937 ms (missed cycles : 2).[0m ×2 +125.56sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +125.57sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +125.57sINFOcontroller_managerLoading controller 'platform_velocity_controller' +125.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +125.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +125.57sINFOros2-21process has finished cleanly [pid 10889] ×2 +125.60sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +125.61sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +125.61sINFOplatform_velocity_controllerconfigure successful +125.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +125.62sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +125.63sINFOglobal_costmap.global_costmapstart +125.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +125.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' +125.94sINFOros2-16process has finished cleanly [pid 10880] ×2 +126.01sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +126.01sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +126.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +126.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +126.41sINFOros2_control_node[2026-09-17 17:15:18.481] [info] Controller state will be published at 20 Hz. ×2 +126.41sINFOros2_control_node[2026-09-17 17:15:18.482] [info] JointVelocityController 'on_configure' succeeded. ×2 +126.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778994 ms (missed cycles : 4). +126.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778994 ms (missed cycles : 4).[0m ×2 +126.68sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +126.68sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +126.72sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.72sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +126.72sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +126.72sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +126.75sINFOros2-22process has finished cleanly [pid 10890] ×2 +126.78sINFOlifecycle_manager_navigationServer planner_server connected with bond. +126.78sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +126.79sINFObehavior_serverActivating +126.79sINFObehavior_serverActivating spin +126.79sINFObehavior_serverActivating backup +126.79sINFObehavior_serverActivating drive_on_heading +126.79sINFObehavior_serverActivating assisted_teleop +126.79sINFObehavior_serverActivating wait +126.79sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +126.79sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +126.80sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +126.89sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +126.89sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +126.89sINFObt_navigatorActivating +126.95sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +127.06sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +127.06sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +127.06sINFOwaypoint_followerActivating +127.06sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +127.16sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +127.16sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +127.16sINFOvelocity_smootherActivating +127.16sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +127.18sINFOros2_control_node[2026-09-17 17:15:19.251] [info] Controller state will be published at 20 Hz. ×2 +127.18sINFOros2_control_node[2026-09-17 17:15:19.252] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.27sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +127.27sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +127.27sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +127.50sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +127.50sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +127.50sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +127.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +127.52sINFOros2-23process has finished cleanly [pid 10893] ×2 +127.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743938 ms (missed cycles : 2). +127.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743938 ms (missed cycles : 2).[0m ×2 +127.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +127.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +127.57sINFOforce_torque_sensor_broadcasterconfigure successful +127.58sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +127.58sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +127.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +127.91sINFOcontroller_managerLoading controller 'velocity_force_controller' +127.91sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +127.91sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +127.92sINFOros2-13process has finished cleanly [pid 10877] ×2 +127.96sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +127.96sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +128.33sINFOros2_control_node[2026-09-17 17:15:20.407] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +128.33sINFOros2_control_node[2026-09-17 17:15:20.408] [info] Controller state will be published at 10 Hz. ×2 +128.33sINFOros2_control_node[2026-09-17 17:15:20.409] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976777 ms (missed cycles : 3). +128.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976777 ms (missed cycles : 3).[0m ×2 +128.66sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +128.66sINFOcontroller_managerLoading controller 'vacuum_gripper' +128.66sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +128.66sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +128.67sINFOros2-20process has finished cleanly [pid 10886] ×2 +128.68sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +128.71sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +128.71sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +128.71sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +128.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +128.73sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +129.06sINFOros2-17process has finished cleanly [pid 10881] ×2 +129.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +129.07sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +129.07sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 +129.07sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_b19_4_a5 --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_awz_u0ec --params-file /tmp/launch_params_3vgm0z45 [0m ×2 +129.13sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +129.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +129.13sINFOplatform_velocity_controller_nav2configure successful +129.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +129.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +129.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.48sINFOros2-18process has finished cleanly [pid 10882] ×2 +129.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653335 ms (missed cycles : 2). +129.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653335 ms (missed cycles : 2).[0m ×2 +130.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822176 ms (missed cycles : 2). +130.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822176 ms (missed cycles : 2).[0m ×2 +131.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). +131.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 +132.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). +132.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 +133.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). +133.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 +134.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+134.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +134.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +134.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +134.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +134.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 +134.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). +134.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 +135.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 +135.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 +136.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). +136.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 +136.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +136.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +136.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 +136.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). +137.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 +137.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +137.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +137.05sINFOcontroller_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 | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 312 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281813 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.62sINFOobjective_server_nodecaller: ×10 + 2.62sINFOobjective_server_nodetype: 0 ×10 + 2.62sINFOobjective_server_nodename: "" ×10 + 2.62sINFOobjective_server_nodeinstance_id: "" ×10 + 2.62sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.68sINFOmove_groupClearing octomap...[0m ×4 + 2.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×4 + 2.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918484 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918484 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829063 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300317 ms (missed cycles : 3).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789665326.54072785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.62sINFOmove_groupClearing octomap...[0m ×4 + 1.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×4 + 1.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789665326.55094528 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941567 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789665327.13245201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789665327.14257646 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789665327.71986437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789665327.87044430 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331209 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789665328.47353673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789665328.53370094 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789665329.10338378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634495 ms (missed cycles : 3).[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197312 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794209 ms (missed cycles : 3).[0m ×2 | ||||