80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.3s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 36 warnings · 276 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.17sINFOobjective_server_nodecaller: ×10 + 2.17sINFOobjective_server_nodetype: 0 ×10 + 2.17sINFOobjective_server_nodename: "" ×10 + 2.17sINFOobjective_server_nodeinstance_id: "" ×10 + 2.17sINFOobjective_server_node ×10 + 2.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.29sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 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. ×12 + 2.94sERRORobjective_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 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674263.54357600 seconds ×3 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3).[0m ×2 + 7.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.60sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674264.14663839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 30 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 1.21sINFOjoint_trajectory_controllerGoal reached, success! + 1.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.81sINFOobjective_server_nodecaller: ×8 + 1.81sINFOobjective_server_nodetype: 0 ×8 + 1.82sINFOobjective_server_nodename: "" ×8 + 1.82sINFOobjective_server_nodeinstance_id: "" ×8 + 1.82sINFOobjective_server_node ×8 + 1.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 2.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.58sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.56sINFOmove_groupClearing octomap...[0m ×2 + 4.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.56sINFOmove_groupOctomap cleared.[0m ×2 + 4.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789674287.76046944 seconds ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2).[0m ×2 + 7.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789674288.34006381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 27 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575751 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575751 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832342 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832342 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231894 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231894 ms (missed cycles : 3).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638476 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638476 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789674274.81151772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040791 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040791 ms (missed cycles : 3).[0m ×2 + 4.24sWARNobjective_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 + 4.25sERRORobjective_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 + 4.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789674275.54186511 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789674276.15276861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552839 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552839 ms (missed cycles : 3).[0m ×2 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327370 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327370 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591513 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591513 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 18 errors · 30 warnings · 225 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 4.308ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.004ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.13sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.13sINFOobjective_server_nodecaller: ×8 + 3.13sINFOobjective_server_nodetype: 0 ×8 + 3.13sINFOobjective_server_nodename: "" ×8 + 3.13sINFOobjective_server_nodeinstance_id: "" ×8 + 3.13sINFOobjective_server_node ×8 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 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 ×12 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.25sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 3.89sWARNobjective_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 + 3.90sERRORobjective_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 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 5.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.90sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 7.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.3s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 39 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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. ×15 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.72sINFOobjective_server_nodecaller: ×8 + 0.72sINFOobjective_server_nodetype: 0 ×8 + 0.72sINFOobjective_server_nodename: "" ×8 + 0.72sINFOobjective_server_nodeinstance_id: "" ×8 + 0.72sINFOobjective_server_node ×8 + 0.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674263.54357600 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674264.14663839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789674264.87681866 seconds ×3 + 6.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289465 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289465 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 |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.69sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 1.34sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.34sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674263.54357600 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.00sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674264.14663839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4).[0m ×2 + 6.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789674264.87681866 seconds ×3 + 7.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 145 warnings · 389 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.58sINFOmove_groupClearing octomap...[0m ×4 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826983 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826983 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850605 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850605 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116620 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116620 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831234 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831234 ms (missed cycles : 3).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011814 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011814 ms (missed cycles : 3).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246573 ms (missed cycles : 4). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246573 ms (missed cycles : 4).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754834 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754834 ms (missed cycles : 2).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991770 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991770 ms (missed cycles : 3).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346657 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346657 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898063 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898063 ms (missed cycles : 2).[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686518 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686518 ms (missed cycles : 2).[0m ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152412 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152412 ms (missed cycles : 2).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297583 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297583 ms (missed cycles : 2).[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212211 ms (missed cycles : 3). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212211 ms (missed cycles : 3).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870468 ms (missed cycles : 2). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870468 ms (missed cycles : 2).[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810924 ms (missed cycles : 3). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810924 ms (missed cycles : 3).[0m ×2 + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118264 ms (missed cycles : 4). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118264 ms (missed cycles : 4).[0m ×2 + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880444 ms (missed cycles : 2). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880444 ms (missed cycles : 2).[0m ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934747 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934747 ms (missed cycles : 3).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095411 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095411 ms (missed cycles : 2).[0m ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637859 ms (missed cycles : 3). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637859 ms (missed cycles : 3).[0m ×2 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831607 ms (missed cycles : 2). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831607 ms (missed cycles : 2).[0m ×2 + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666876 ms (missed cycles : 3). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666876 ms (missed cycles : 3).[0m ×2 + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089533 ms (missed cycles : 3). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089533 ms (missed cycles : 3).[0m ×2 + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000739 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000739 ms (missed cycles : 2).[0m ×2 + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292049 ms (missed cycles : 4). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292049 ms (missed cycles : 4).[0m ×2 + 34.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309769 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309769 ms (missed cycles : 2).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893803 ms (missed cycles : 2). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893803 ms (missed cycles : 2).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729171 ms (missed cycles : 2). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729171 ms (missed cycles : 2).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465486 ms (missed cycles : 2). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465486 ms (missed cycles : 2).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934914 ms (missed cycles : 3). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934914 ms (missed cycles : 3).[0m ×2 + 40.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360394 ms (missed cycles : 3). + 40.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360394 ms (missed cycles : 3).[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089624 ms (missed cycles : 2). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089624 ms (missed cycles : 2).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318439 ms (missed cycles : 2). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318439 ms (missed cycles : 2).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2).[0m ×2 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2).[0m ×2 + 46.11sINFOjoint_trajectory_controllerGoal reached, success! + 46.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789674251.98311234 seconds ×3 + 46.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.67sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789674252.57453704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3).[0m ×2 + 47.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 47.87sINFOobjective_server_nodeFound path in 0 iterations (2.4341e-05 s). ×2 + 47.94sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3).[0m ×2 + 49.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4).[0m ×2 + 49.73sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 4.308ms + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2). + 50.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 116 errors · 35 warnings · 508 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.00sERRORobjective_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 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.63sINFOmove_groupClearing octomap...[0m ×2 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.63sINFOmove_groupOctomap cleared.[0m ×2 + 0.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3).[0m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789674287.76046944 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789674288.34006381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789674289.20019484 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101155 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101155 ms (missed cycles : 3).[0m ×2 + 4.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043538 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043538 ms (missed cycles : 4).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070466 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070466 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515936 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515936 ms (missed cycles : 3).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657264 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657264 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971926 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971926 ms (missed cycles : 2).[0m ×2 + 10.46sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.49sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_video_auth_proxy-38process has died [pid 10988, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.50sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.51sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge_auth_proxy-37process has died [pid 10986, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.51sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.52sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.53sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.54sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.55sINFOvideo_server-36process has finished cleanly [pid 10983] ×2 + 10.55sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.56sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.57sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.58sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.59sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.60sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.61sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.63sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.64sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.66sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.66sINFOcontroller_managerShutdown request received.... + 10.66sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.66sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.66sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.66sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.66sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.66sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down the controller manager. + 10.67sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 10.68sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.69sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.71sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.71sERRORmove_group-24process has died [pid 10928, 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_ktml87o9 --params-file /tmp/launch_params_tfizaoki --params-file /tmp/launch_params_089g7j1s --params-file /tmp/launch_params___m6fjob --params-file /tmp/launch_params__fwcy6ra --params-file /tmp/launch_params_0140_g6a']. ×2 + 10.72sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.73sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.74sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.75sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.75sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.77sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.77sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.77sINFOmap_serverDeactivating + 10.77sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.77sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.77sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.78sINFOcontroller_serverDeactivating + 10.78sINFOlocal_costmap.local_costmapDeactivating + 10.78sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.78sINFOmap_serverCleaning up + 10.78sINFOvideo_server2026/09/17 19:44:55 INF shutting down gracefully ×2 + 10.78sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.78sINFOvideo_server2026/09/17 19:44:55 INF [WebRTC] closing ×2 + 10.78sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.78sINFOvideo_server2026/09/17 19:44:55 INF [RTSP] closing ×2 + 10.78sINFOvideo_server2026/09/17 19:44:55 INF waiting for running hooks ×2 + 10.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.78sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.78sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.78sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.78sERRORmove_groupStack trace (most recent call last) in thread 11579: ×2 + 10.78sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.78sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb8e190fa63, in __clone ×2 + 10.78sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb8e1882aa3, in ×2 + 10.78sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb8e1b14db3, in ×2 + 10.78sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fb8e2278b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.78sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb8e1ea6620, in rclcpp::Rate::sleep() ×2 + 10.78sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb8e1de8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.78sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb8e1daa087, in ×2 + 10.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb8e1ae3390, in __cxa_throw ×2 + 10.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb8e1acda54, in std::terminate() ×2 + 10.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb8e1ae30d9, in ×2 + 10.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb8e1acdff4, in ×2 + 10.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb8e180e8fe, in abort ×2 + 10.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb8e182b27d, in raise ×2 + 10.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb8e1884b2c, in pthread_kill ×2 + 10.78sERRORmove_groupAborted (Signal sent by tkill() 10928 0) ×2 + 10.79sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.79sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.79sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.79sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.79sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.79sINFOodom_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 + 10.79sINFOodom_qos_relay.pymain() ×2 + 10.79sINFOodom_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 + 10.79sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.79sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.79sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.79sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.79sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.79sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.79sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.79sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.80sERRORamclThe bond connection to the lifecycle manager has been broken + 10.83sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.84sINFOcontroller_serverCleaning up + 10.84sINFOlocal_costmap.local_costmapCleaning up + 10.87sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.87sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.88sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.88sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.88sINFOsmoother_serverDeactivating + 10.88sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.89sINFOsmoother_serverCleaning up + 10.91sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.91sINFOplanner_serverDeactivating + 10.91sINFOglobal_costmap.global_costmapDeactivating + 10.95sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.95sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.96sINFOplanner_serverCleaning up + 10.97sINFOglobal_costmap.global_costmapCleaning up + 10.98sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.98sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.02sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.02sINFObehavior_serverDeactivating + 11.02sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.02sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.02sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.02sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.02sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.02sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.02sINFOvelocity_smootherDeactivating + 11.02sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.03sINFObehavior_serverCleaning up + 11.03sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.03sINFObt_navigatorDeactivating + 11.03sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.04sINFObt_navigatorCleaning up + 11.10sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.13sINFOwaypoint_followerDeactivating + 11.13sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.20sINFObt_navigatorCompleted Cleaning up + 11.20sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.20sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.20sINFOvelocity_smootherCleaning up + 11.20sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.25sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.27sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.27sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.27sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.27sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.27sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.27sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.27sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.27sINFOwaypoint_followerCleaning up + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.30sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.30sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.30sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.30sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.30sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.58sINFOtf2_web_republisher_node-35process has finished cleanly [pid 10982] ×2 + 11.58sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.60sERRORcomponent_container_isolated-1process has died [pid 10800, 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_eo5qcguy --params-file /tmp/launch_params_e1qdi4qy -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.66sINFOui_teleop_bridge-33process has finished cleanly [pid 10980] ×2 + 11.66sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 10970] ×2 + 11.67sINFOexecute_objective_bridge-32process has finished cleanly [pid 10976] ×2 + 11.67sINFOmove_joint_resampler_node-27process has finished cleanly [pid 10969] ×2 + 11.71sINFOparameter_manager_node-25process has finished cleanly [pid 10966] ×2 + 11.74sINFOwaypoint_manager_node-26process has finished cleanly [pid 10968] ×2 + 11.74sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 10901] ×2 + 11.75sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 10808] ×2 + 11.75sINFOcomponent_container_mt-31process has finished cleanly [pid 10975] ×2 + 11.75sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 10902] ×2 + 11.76sINFOstatic_transform_publisher-8process has finished cleanly [pid 10807] ×2 + 11.77sINFOstatic_transform_publisher-7process has finished cleanly [pid 10806] ×2 + 11.77sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.77sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.77sINFOlidar_flattener.pymain() ×2 + 11.77sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.77sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.77sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.77sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.77sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.77sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.77sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.77sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.77sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.77sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.80sINFOobjective_server_node[2026-09-17 19:44:56.434] [moveit_pro_license] [info] ×2 + 11.80sINFOobjective_server_node************************************************* ×4 + 11.80sINFOobjective_server_node* MoveIt Pro License ×2 + 11.80sINFOobjective_server_node* Application has successfully terminated ×2 + 11.80sINFOstatic_transform_publisher-3process has finished cleanly [pid 10802] ×2 + 11.82sERRORlidar_flattener.py-6process has died [pid 10805, 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_yr5ahjnj']. ×2 + 11.83sERRORodom_qos_relay.py-5process has died [pid 10804, 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 + 11.86sINFOobjective_server_node_main-29process has finished cleanly [pid 10971] ×2 + 11.86sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.78sINFOodom_world_drift-4process has finished cleanly [pid 10803] ×2 + 12.78sINFOcomponent_container_mt-30process has finished cleanly [pid 10972] ×2 + 13.19sERRORcomponent_container_isolated-2process has died [pid 10801, 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_eo5qcguy --params-file /tmp/launch_params_qsxb2scq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.27sINFOweb_bridge-34process has finished cleanly [pid 10981] ×2 + 13.27sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.41sINFOros2_control_node-12process has finished cleanly [pid 10903] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 30 errors · 66 warnings · 273 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 0.46sWARNobjective_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 + 0.46sERRORobjective_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 + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.03sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.03sINFOobjective_server_nodecaller: ×10 + 1.03sINFOobjective_server_nodetype: 0 ×10 + 1.03sINFOobjective_server_nodename: "" ×10 + 1.03sINFOobjective_server_nodeinstance_id: "" ×10 + 1.03sINFOobjective_server_node ×10 + 1.07sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674263.54357600 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674264.14663839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4).[0m ×2 + 4.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789674264.87681866 seconds ×3 + 4.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289465 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289465 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689102 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689102 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683217 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683217 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916228 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916228 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575751 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575751 ms (missed cycles : 4).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832342 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832342 ms (missed cycles : 2).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231894 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231894 ms (missed cycles : 3).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638476 ms (missed cycles : 3). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638476 ms (missed cycles : 3).[0m ×2 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789674274.81151772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040791 ms (missed cycles : 3). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040791 ms (missed cycles : 3).[0m ×2 + 15.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789674275.54186511 seconds ×3 + 15.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.66sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789674276.15276861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552839 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552839 ms (missed cycles : 3).[0m ×2 + 16.12sINFOjoint_trajectory_controllerReceived new action goal + 16.12sINFOjoint_trajectory_controllerAccepted new action goal + 16.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327370 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327370 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 45 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231894 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231894 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638476 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638476 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.40sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.40sINFOobjective_server_nodecaller: ×10 + 1.40sINFOobjective_server_nodetype: 0 ×10 + 1.40sINFOobjective_server_nodename: "" ×10 + 1.40sINFOobjective_server_nodeinstance_id: "" ×10 + 1.40sINFOobjective_server_node ×10 + 1.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789674274.81151772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040791 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040791 ms (missed cycles : 3).[0m ×2 + 2.16sWARNobjective_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 + 2.17sERRORobjective_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 + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789674275.54186511 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789674276.15276861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552839 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552839 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerReceived new action goal + 3.20sINFOjoint_trajectory_controllerAccepted new action goal + 3.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327370 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327370 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591513 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591513 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 8.55sINFOjoint_trajectory_controllerGoal reached, success! + 8.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 9.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.15sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 9.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 10.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.49sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 11.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 11.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.84sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 11.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 11.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 11.90sINFOmove_groupClearing octomap...[0m ×2 + 11.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 11.90sINFOmove_groupOctomap cleared.[0m ×2 + 11.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 12 errors · 44 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.41sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789674251.98311234 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.97sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.97sINFOobjective_server_nodecaller: ×8 + 2.97sINFOobjective_server_nodetype: 0 ×8 + 2.97sINFOobjective_server_nodename: "" ×8 + 2.97sINFOobjective_server_nodeinstance_id: "" ×8 + 2.97sINFOobjective_server_node ×8 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789674252.57453704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3).[0m ×2 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.4341e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4).[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 4.308ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.004ms + 6.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 7.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 8.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 8.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 9.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.15sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.27sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 9.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 9.92sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 9.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 10.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.57sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 11.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 11.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.96sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.1s | 12 errors · 36 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 0.05sINFOjoint_trajectory_controllerGoal reached, success! + 0.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.66sINFOobjective_server_nodecaller: ×8 + 0.66sINFOobjective_server_nodetype: 0 ×8 + 0.66sINFOobjective_server_nodename: "" ×8 + 0.66sINFOobjective_server_nodeinstance_id: "" ×8 + 0.66sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 1.41sWARNobjective_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 + 1.42sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789674287.76046944 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789674288.34006381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789674289.20019484 seconds ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101155 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101155 ms (missed cycles : 3).[0m ×2 + 7.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043538 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043538 ms (missed cycles : 4).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070466 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070466 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 319 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.58sINFOmove_groupClearing octomap...[0m ×4 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826983 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826983 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 23 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789674251.98311234 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789674252.57453704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3).[0m ×2 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.4341e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4).[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 4.308ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 23 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080778 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742861 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701906 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789674251.98311234 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789674252.57453704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483470 ms (missed cycles : 3).[0m ×2 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.4341e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620961 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224351 ms (missed cycles : 4).[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 4.308ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 172 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 4.308ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986968 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.004ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.13sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.13sINFOobjective_server_nodecaller: ×6 + 3.13sINFOobjective_server_nodetype: 0 ×6 + 3.13sINFOobjective_server_nodename: "" ×6 + 3.13sINFOobjective_server_nodeinstance_id: "" ×6 + 3.13sINFOobjective_server_node ×6 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 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 ×9 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.25sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 3.89sWARNobjective_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 + 3.90sERRORobjective_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 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 5.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.90sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 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 + 2.29sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 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 + 2.94sERRORobjective_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 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 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 + 2.29sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 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 + 2.94sERRORobjective_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 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 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 + 2.29sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 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 + 2.94sERRORobjective_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 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 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 + 2.29sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 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 + 2.94sERRORobjective_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 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 27 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095276 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 1.60sINFOjoint_trajectory_controllerGoal reached, success! + 1.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668014 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674258.17466640 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674258.75732136 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 + 2.29sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.409ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 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 + 2.94sERRORobjective_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 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 4.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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. ×15 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.72sINFOobjective_server_nodecaller: ×8 + 0.72sINFOobjective_server_nodetype: 0 ×8 + 0.72sINFOobjective_server_nodename: "" ×8 + 0.72sINFOobjective_server_nodeinstance_id: "" ×8 + 0.72sINFOobjective_server_node ×8 + 0.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674263.54357600 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674264.14663839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789674264.87681866 seconds ×3 + 6.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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. ×15 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.72sINFOobjective_server_nodecaller: ×8 + 0.72sINFOobjective_server_nodetype: 0 ×8 + 0.72sINFOobjective_server_nodename: "" ×8 + 0.72sINFOobjective_server_nodeinstance_id: "" ×8 + 0.72sINFOobjective_server_node ×8 + 0.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674263.54357600 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674264.14663839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789674264.87681866 seconds ×3 + 6.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232716 ms (missed cycles : 2).[0m ×2 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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. ×15 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674259.48747110 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.72sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.72sINFOobjective_server_nodecaller: ×8 + 0.72sINFOobjective_server_nodetype: 0 ×8 + 0.72sINFOobjective_server_nodename: "" ×8 + 0.72sINFOobjective_server_nodeinstance_id: "" ×8 + 0.72sINFOobjective_server_node ×8 + 0.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674260.16748786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897690 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674260.91763353 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921461 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674261.52722621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674262.22739792 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790758 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674262.83339214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674263.54357600 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605637 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674264.14663839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089965 ms (missed cycles : 4).[0m ×2 + 5.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789674264.87681866 seconds ×3 + 6.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754963 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195446 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762286 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.59sERRORobjective_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 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.56sINFOmove_groupClearing octomap...[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 27 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763355 ms (missed cycles : 3).[0m ×2 + 0.05sINFOjoint_trajectory_controllerGoal reached, success! + 0.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674281.97300005 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.66sINFOobjective_server_nodecaller: ×8 + 0.66sINFOobjective_server_nodetype: 0 ×8 + 0.66sINFOobjective_server_nodename: "" ×8 + 0.66sINFOobjective_server_nodeinstance_id: "" ×8 + 0.66sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674282.56835628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420186 ms (missed cycles : 2).[0m ×2 + 1.41sWARNobjective_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 + 1.42sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674283.28851581 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674283.91190839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524808 ms (missed cycles : 3).[0m ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674284.64213395 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699656 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674285.25034451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131977 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108769 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789674287.76046944 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277339 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789674288.34006381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.0s | 78 errors · 511 warnings · 2515 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/2026-09-17-19-41-08-154635-949096c97fe3-7607 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.03sINFOros2_control_node-12process started with pid [7760] + 5.03sINFOmove_group-24process started with pid [7776] + 5.03sINFOparameter_manager_node-25process started with pid [7827] + 5.03sINFOwaypoint_manager_node-26process started with pid [7828] + 5.03sINFOmove_joint_resampler_node-27process started with pid [7829] + 5.03sINFOmove_end_effector_resampler_node-28process started with pid [7830] + 5.03sINFOobjective_server_node_main-29process started with pid [7831] + 5.03sINFOcomponent_container_mt-30process started with pid [7832] + 5.03sINFOcomponent_container_mt-31process started with pid [7833] + 5.03sINFOexecute_objective_bridge-32process started with pid [7834] + 5.03sINFOui_teleop_bridge-33process started with pid [7835] + 5.03sINFOweb_bridge-34process started with pid [7838] + 5.03sINFOtf2_web_republisher_node-35process started with pid [7839] + 5.03sINFOvideo_server-36process started with pid [7842] + 5.03sINFOweb_bridge_auth_proxy-37process started with pid [7843] + 5.03sINFOweb_video_auth_proxy-38process started with pid [7848] + 5.03sINFOcomponent_container_isolated-1process started with pid [7657] + 5.03sINFOcomponent_container_isolated-2process started with pid [7658] + 5.03sINFOstatic_transform_publisher-3process started with pid [7659] + 5.03sINFOodom_world_drift-4process started with pid [7660] + 5.03sINFOodom_qos_relay.py-5process started with pid [7661] + 5.03sINFOlidar_flattener.py-6process started with pid [7662] + 5.03sINFOstatic_transform_publisher-7process started with pid [7663] + 5.03sINFOstatic_transform_publisher-8process started with pid [7664] + 5.03sINFOscan_to_scan_filter_chain-9process started with pid [7665] + 5.03sINFOscan_to_scan_filter_chain-10process started with pid [7758] + 5.03sINFOfixed_lag_smoother_node-11process started with pid [7759] + 5.03sINFOros2-13process started with pid [7761] + 5.03sINFOros2-14process started with pid [7762] + 5.03sINFOros2-15process started with pid [7763] + 5.03sINFOros2-16process started with pid [7764] + 5.03sINFOros2-17process started with pid [7765] + 5.03sINFOros2-18process started with pid [7766] + 5.03sINFOros2-19process started with pid [7767] + 5.03sINFOros2-20process started with pid [7768] + 5.03sINFOros2-21process started with pid [7771] + 5.03sINFOros2-22process started with pid [7772] + 5.03sINFOros2-23process started with pid [7773] + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.14sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 5.14sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 5.14sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 5.14sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.14sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.14sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.14sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.14sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.14sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 5.20sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346980 ms (missed cycles : 6).[0m + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.28sINFOvideo_server2026/09/17 19:41:15 INF MediaMTX v1.20.1, linux, amd64 + 5.28sINFOvideo_server2026/09/17 19:41:15 INF configuration loaded from /tmp/moveit-webrtc-c5jtqsda/mediamtx.yml + 5.28sINFOvideo_server2026/09/17 19:41:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.28sINFOvideo_server2026/09/17 19:41:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.34sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.35sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.35sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.40sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.41sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.57sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.58sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.75sWARNscan_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 + 5.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.96sINFOmove_groupLoaded robot model in 0.260781 seconds[0m + 5.97sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.97sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684345 ms (missed cycles : 5).[0m + 6.54sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.75sINFOwaypoint_manager_nodeLoaded robot model in 0.403989 seconds[0m + 6.75sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.75sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.82sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.84sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 6.84sINFOros2_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 + 6.84sINFOmove_group[2026-09-17 19:41:16.589] [moveit_pro_license] [info] + 6.84sINFOmove_group************************************************* ×6 + 6.84sINFOmove_group* MoveIt Pro License ×3 + 6.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.31sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.31sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.31sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.32sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.32sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.32sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.33sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.33sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.33sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.33sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.33sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.53sINFOwaypoint_manager_node[2026-09-17 19:41:17.279] [moveit_pro_license] [info] + 7.53sINFOwaypoint_manager_node************************************************* ×6 + 7.53sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.53sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.67sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.67sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.67sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.67sWARNros2_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 + 7.67sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.67sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.67sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.67sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.67sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.67sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.67sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.67sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.67sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.67sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.67sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.67sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.68sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.68sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.68sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.68sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.68sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.68sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.68sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.68sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.68sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.68sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.68sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.68sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.68sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.68sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.68sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.68sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.68sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 7.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 7.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 7.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 7.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 7.81sINFOros2_control_nodeconfigure successful[0m ×9 + 7.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 7.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 7.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 7.93sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.93sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.94sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.94sINFOros2_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 + 7.95sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 7.95sWARNros2_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 + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209919 ms (missed cycles : 4).[0m + 8.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.13sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 8.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.16sINFOros2-13process has finished cleanly [pid 7761] + 8.19sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 8.19sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 8.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.32sINFOobjective_server_node[2026-09-17 19:41:18.064] [moveit_pro_license] [info] + 8.32sINFOobjective_server_node************************************************* ×8 + 8.32sINFOobjective_server_node* MoveIt Pro License ×4 + 8.32sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.32sWARNcomponent_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 + 8.39sINFOobjective_server_nodeLoaded robot model in 0.02364 seconds[0m + 8.39sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.39sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.49sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.49sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.49sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.50sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.50sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.50sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.50sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.50sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.51sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.51sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.51sINFOcomponent_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 + 8.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.58sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.58sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 8.58sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 8.62sINFOcomponent_container_mtLoaded robot model in 0.296659 seconds[0m + 8.62sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.62sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.62sINFOros2-18process has finished cleanly [pid 7766] + 8.65sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 8.65sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 8.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 8.66sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 8.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.77sINFOcomponent_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 + 8.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.83sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.83sWARNobjective_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 + 8.83sWARNobjective_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 + 8.83sWARNobjective_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 + 8.84sWARNobjective_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 + 8.84sWARNobjective_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 + 8.84sWARNobjective_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 + 8.84sWARNobjective_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 + 8.84sWARNobjective_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 + 8.84sWARNobjective_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 + 8.84sWARNobjective_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 + 8.91sINFOobjective_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 + 8.91sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.94sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.94sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.94sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.94sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.94sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.94sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.94sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.97sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 8.97sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 8.98sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.02sINFOros2-16process has finished cleanly [pid 7764] + 9.04sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 9.04sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 9.05sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 9.05sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 9.08sWARNcomponent_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 + 9.08sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.10sWARNcomponent_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 + 9.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277402 ms (missed cycles : 2).[0m + 9.36sINFOcomponent_container_mt[2026-09-17 19:41:19.103] [moveit_pro_license] [info] + 9.36sINFOcomponent_container_mt************************************************* ×6 + 9.36sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.36sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.36sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 9.36sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 9.37sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 9.40sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 9.42sINFOros2-14process has finished cleanly [pid 7762] + 9.43sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 9.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 9.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 9.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 9.45sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 9.57sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.58sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 9.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 9.74sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.74sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.76sINFOmove_group ×12 + 9.76sINFOmove_group******************************************************** ×6 + 9.76sINFOmove_group* MoveGroup using: ×3 + 9.76sINFOmove_group* - apply_planning_scene_service ×3 + 9.76sINFOmove_group* - clear_octomap_service ×3 + 9.76sINFOmove_group* - get_group_urdf ×3 + 9.76sINFOmove_group* - load_geometry_from_file ×3 + 9.76sINFOmove_group* - get_planning_scene_service ×3 + 9.76sINFOmove_group* - kinematics_service ×3 + 9.76sINFOmove_group* - save_geometry_to_file ×3 + 9.76sINFOmove_group* - GetPlanningGroups ×3 + 9.76sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.76sINFOmove_group[0m ×3 + 9.76sINFOmove_group[92mYou can start planning now![0m ×3 + 9.78sINFOros2-17process has finished cleanly [pid 7765] + 9.81sWARNros2_control_nodeCamera render tick took 1.06 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 + 9.84sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.84sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 9.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 9.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 9.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 10.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 10.00sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038909 ms (missed cycles : 3).[0m + 10.31sINFOros2_control_node[2026-09-17 19:41:20.054] [warning] No force/torque sensor configured. The VFC will ignore force references. + 10.31sINFOros2_control_node[2026-09-17 19:41:20.058] [info] Controller state will be published at 10 Hz. + 10.31sINFOros2_control_node[2026-09-17 19:41:20.059] [info] VelocityForceController 'on_configure' succeeded. + 10.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m + 10.63sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.63sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 10.64sINFOros2-20process has finished cleanly [pid 7768] + 10.72sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 10.74sWARNobjective_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 + 10.77sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 10.77sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 11.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006734 ms (missed cycles : 3).[0m + 11.86sINFOros2_control_node[2026-09-17 19:41:21.608] [info] Controller state will be published at 20 Hz. + 11.86sINFOros2_control_node[2026-09-17 19:41:21.609] [info] JointVelocityController 'on_configure' succeeded. + 12.20sINFOros2-23process has finished cleanly [pid 7773] + 12.22sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 12.22sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 12.22sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 12.27sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 12.27sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092399 ms (missed cycles : 2).[0m + 12.60sINFOros2_control_node[2026-09-17 19:41:22.345] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.60sINFOros2_control_node[2026-09-17 19:41:22.347] [info] Controller state will be published at 10 Hz. + 12.60sINFOros2_control_node[2026-09-17 19:41:22.348] [info] VelocityForceController 'on_configure' succeeded. + 12.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 12.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 12.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 12.95sINFOros2-21process has finished cleanly [pid 7771] + 12.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 12.98sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 12.98sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 12.99sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 13.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 13.32sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 13.32sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 13.32sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 13.32sINFOros2-15process has finished cleanly [pid 7763] + 13.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 13.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263022 ms (missed cycles : 2).[0m + 13.77sINFOros2_control_node[2026-09-17 19:41:23.513] [info] Controller state will be published at 20 Hz. + 13.77sINFOros2_control_node[2026-09-17 19:41:23.514] [info] JointVelocityController 'on_configure' succeeded. + 14.10sINFOros2-22process has finished cleanly [pid 7772] + 14.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 14.12sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 14.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qi3hi78d --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_vuau4ehr --params-file /tmp/launch_params_l20ec1a2 [0m + 14.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 14.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 14.24sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 14.24sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 14.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 14.24sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 14.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 14.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 14.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 14.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 14.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 14.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 14.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.53sINFOros2-19process has finished cleanly [pid 7767] + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125408 ms (missed cycles : 4).[0m + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989413 ms (missed cycles : 2).[0m + 15.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904039 ms (missed cycles : 2).[0m + 17.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.907828 ms (missed cycles : 5).[0m + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135511 ms (missed cycles : 4).[0m + 19.58sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 19.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 19.58sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 19.58sINFOobjective_server_nodeparameter_overrides: [] ×27 + 19.58sINFOobjective_server_nodecaller: ×27 + 19.58sINFOobjective_server_nodetype: 0 ×27 + 19.58sINFOobjective_server_nodename: "" ×27 + 19.58sINFOobjective_server_nodeinstance_id: "" ×27 + 19.58sINFOobjective_server_node ×27 + 19.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674089.36232972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.62sINFOmove_groupClearing octomap...[0m ×7 + 19.62sINFOmove_groupOctomap cleared.[0m ×7 + 19.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674089.37250614 seconds + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201661 ms (missed cycles : 2).[0m + 20.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 20.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674089.95621848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674089.96635795 seconds + 20.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674090.55074263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674090.70133948 seconds + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310783 ms (missed cycles : 2).[0m + 21.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 21.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674091.30301356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 21.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 21.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 21.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674091.36313891 seconds + 22.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 22.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674091.94036627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 22.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 22.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 22.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887714 ms (missed cycles : 3).[0m + 22.47sWARNros2_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 ×6 + 23.26sINFOobjective_server_nodePlanning for 177 path waypoints. + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446823 ms (missed cycles : 2).[0m + 23.58sINFOros2_control_nodeReceived new action goal[0m ×3 + 23.58sINFOros2_control_nodeAccepted new action goal[0m ×3 + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700081 ms (missed cycles : 3).[0m + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671835 ms (missed cycles : 2).[0m + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136074 ms (missed cycles : 2).[0m + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749106 ms (missed cycles : 3).[0m + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264638 ms (missed cycles : 4).[0m + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246630 ms (missed cycles : 3).[0m + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712621 ms (missed cycles : 2).[0m + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976467 ms (missed cycles : 3).[0m + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750650 ms (missed cycles : 2).[0m + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066754 ms (missed cycles : 2).[0m + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949107 ms (missed cycles : 4).[0m + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357615 ms (missed cycles : 3).[0m + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573072 ms (missed cycles : 2).[0m + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693414 ms (missed cycles : 2).[0m + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831861 ms (missed cycles : 2).[0m + 40.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555790 ms (missed cycles : 3).[0m + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641547 ms (missed cycles : 3).[0m + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075988 ms (missed cycles : 2).[0m + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453910 ms (missed cycles : 2).[0m + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977346 ms (missed cycles : 2).[0m + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375191 ms (missed cycles : 4).[0m + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070030 ms (missed cycles : 2).[0m + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272973 ms (missed cycles : 2).[0m + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200717 ms (missed cycles : 2).[0m + 50.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.552903 ms (missed cycles : 4).[0m + 51.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132570 ms (missed cycles : 2).[0m + 52.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841908 ms (missed cycles : 2).[0m + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356842 ms (missed cycles : 4).[0m + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095477 ms (missed cycles : 4).[0m + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050379 ms (missed cycles : 2).[0m + 56.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476685 ms (missed cycles : 3).[0m + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160931 ms (missed cycles : 2).[0m + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586846 ms (missed cycles : 3).[0m + 60.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263944 ms (missed cycles : 3).[0m + 61.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166935 ms (missed cycles : 4).[0m + 62.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429320 ms (missed cycles : 4).[0m + 63.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717197 ms (missed cycles : 2).[0m + 64.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609112 ms (missed cycles : 2).[0m + 65.17sINFOros2_control_nodeGoal reached, success![0m ×3 + 65.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789674134.93912506 seconds + 65.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847554 ms (missed cycles : 2).[0m + 65.73sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789674135.51493788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 66.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485497 ms (missed cycles : 3).[0m + 66.83sINFOobjective_server_nodeFound path in 0 iterations (2.3193e-05 s). + 66.89sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 67.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364326 ms (missed cycles : 2).[0m + 68.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209219 ms (missed cycles : 2).[0m + 69.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339539 ms (missed cycles : 3).[0m + 70.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731360 ms (missed cycles : 3).[0m + 71.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789674141.01506567 seconds + 71.81sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789674141.59561992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052700 ms (missed cycles : 2).[0m + 72.66sWARNobjective_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 + 72.67sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 72.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789674142.41580892 seconds + 72.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361402 ms (missed cycles : 2).[0m + 73.31sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 73.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789674143.09900284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734333 ms (missed cycles : 2).[0m + 74.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789674143.84916306 seconds + 74.67sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789674144.45152020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743797 ms (missed cycles : 2).[0m + 75.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789674145.17170048 seconds + 75.99sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 76.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789674145.78592467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328212 ms (missed cycles : 2).[0m + 76.81sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 76.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789674146.60614157 seconds + 77.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334270 ms (missed cycles : 2).[0m + 77.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 77.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789674147.22246766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 78.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789674147.95262432 seconds + 78.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720376 ms (missed cycles : 2).[0m + 79.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699488 ms (missed cycles : 2).[0m + 80.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377426 ms (missed cycles : 3).[0m + 81.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170566 ms (missed cycles : 2).[0m + 82.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576492 ms (missed cycles : 3).[0m + 83.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767682 ms (missed cycles : 2).[0m + 84.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694304 ms (missed cycles : 5).[0m + 85.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361399 ms (missed cycles : 3).[0m + 86.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427028 ms (missed cycles : 3).[0m + 87.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325245 ms (missed cycles : 4).[0m + 88.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 88.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789674157.81188869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789674158.55205059 seconds + 88.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483323 ms (missed cycles : 3).[0m + 89.37sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 89.41sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789674159.15951753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017889 ms (missed cycles : 2).[0m + 90.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844208 ms (missed cycles : 3).[0m + 92.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817294 ms (missed cycles : 5).[0m + 93.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541283 ms (missed cycles : 4).[0m + 94.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724844 ms (missed cycles : 3).[0m + 95.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275938 ms (missed cycles : 3).[0m + 95.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789674165.01964951 seconds + 95.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789674165.61108780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568465 ms (missed cycles : 3).[0m + 96.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789674166.38126516 seconds + 97.20sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 97.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789674167.00168705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842262 ms (missed cycles : 2).[0m + 97.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789674167.71186113 seconds + 98.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079471 ms (missed cycles : 2).[0m + 98.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 98.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789674168.33265448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 99.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121841 ms (missed cycles : 2).[0m +100.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073864 ms (missed cycles : 3).[0m +101.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029344 ms (missed cycles : 2).[0m +101.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789674171.61277580 seconds +102.41sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +102.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789674172.18984485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +102.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517288 ms (missed cycles : 3).[0m +103.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789674173.03995943 seconds +103.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +104.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226972 ms (missed cycles : 4).[0m +104.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662196 ms (missed cycles : 2).[0m +105.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748813 ms (missed cycles : 3).[0m +106.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154168 ms (missed cycles : 2).[0m +108.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426816 ms (missed cycles : 3).[0m +109.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864705 ms (missed cycles : 2).[0m +109.19sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.19sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.19sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.19sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.19sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.20sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.20sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.20sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.20sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.20sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] +109.21sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.21sERRORweb_video_auth_proxy-38process has died [pid 7848, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +109.21sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.21sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] +109.22sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORweb_bridge_auth_proxy-37process has died [pid 7843, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +109.23sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.23sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.24sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] +109.25sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] +109.26sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] +109.27sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] +109.28sINFOvideo_server-36process has finished cleanly [pid 7842] +109.28sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] +109.29sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] +109.30sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +109.31sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] +109.32sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] +109.33sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] +109.34sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system +109.35sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] +109.36sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] +109.37sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] +109.38sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] +109.40sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] +109.41sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +109.42sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +109.43sERRORmove_group-24process has died [pid 7776, 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_8mcpnurw --params-file /tmp/launch_params_4ernf5_i --params-file /tmp/launch_params_7fmshbdo --params-file /tmp/launch_params_hdyez0hl --params-file /tmp/launch_params_nbfn3vwf --params-file /tmp/launch_params_0m1aqaxj']. +109.43sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +109.44sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +109.45sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +109.46sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +109.47sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] +109.48sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +109.49sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +109.50sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +109.50sINFOvideo_server2026/09/17 19:42:58 INF shutting down gracefully +109.50sINFOvideo_server2026/09/17 19:42:58 INF [WebRTC] closing +109.50sINFOvideo_server2026/09/17 19:42:58 INF [RTSP] closing +109.50sINFOvideo_server2026/09/17 19:42:58 INF waiting for running hooks +109.50sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +109.50sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOcomponent_container_mtStopping planning scene monitor[0m +109.50sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +109.50sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +109.50sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +109.50sERRORmove_groupwhat(): context cannot be slept with because it's invalid +109.50sERRORmove_groupStack trace (most recent call last) in thread 8446: +109.50sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +109.50sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f215a7dea63, in __clone +109.50sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f215a751aa3, in +109.50sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f215a9e3db3, in +109.50sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f215b147b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +109.50sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f215ad75620, in rclcpp::Rate::sleep() +109.50sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f215acb7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +109.50sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +109.50sINFOros2_control_nodeShutdown request received....[0m +109.50sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +109.50sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +109.50sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +109.51sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +109.51sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +109.51sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +109.51sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +109.51sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +109.51sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f215ac79087, in +109.51sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f215a9b2390, in __cxa_throw +109.51sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f215a99ca54, in std::terminate() +109.51sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f215a9b20d9, in +109.51sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f215a99cff4, in +109.51sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f215a6dd8fe, in abort +109.51sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f215a6fa27d, in raise +109.51sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f215a753b2c, in pthread_kill +109.51sERRORmove_groupAborted (Signal sent by tkill() 7776 0) +109.51sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +109.51sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +109.51sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +109.51sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +109.51sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +109.51sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +109.51sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +109.51sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +109.51sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +109.51sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +109.51sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +109.51sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +109.51sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +109.51sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +109.51sINFOros2_control_nodeShutting down the controller manager.[0m +109.51sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +109.51sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +109.51sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +109.51sERRORodom_qos_relay.pyTraceback (most recent call last): +109.51sINFOodom_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> +109.51sINFOodom_qos_relay.pymain() +109.51sINFOodom_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 +109.51sINFOodom_qos_relay.pyrclpy.spin(node) +109.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.51sINFOodom_qos_relay.pyexecutor.spin_once() +109.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.51sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +109.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.51sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.51sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.51sINFOodom_qos_relay.pyreturn next(self._cb_iter) +109.51sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +109.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.51sINFOodom_qos_relay.pyraise ExternalShutdownException() +109.51sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +109.51sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m +109.60sINFOros2_control_nodeAsync messages lost 0[0m ×2 +109.60sINFOros2_control_nodepublish_async_failures_ 1[0m +109.60sINFOros2_control_nodepublish_async_failures_ 0[0m +110.32sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7839] +110.32sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system +110.39sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7830] +110.39sINFOui_teleop_bridge-33process has finished cleanly [pid 7835] +110.39sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7829] +110.41sINFOexecute_objective_bridge-32process has finished cleanly [pid 7834] +110.44sINFOparameter_manager_node-25process has finished cleanly [pid 7827] +110.45sINFOwaypoint_manager_node-26process has finished cleanly [pid 7828] +110.46sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7758] +110.47sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7665] +110.48sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 7759] +110.48sINFOcomponent_container_mt-31process has finished cleanly [pid 7833] +110.48sINFOstatic_transform_publisher-8process has finished cleanly [pid 7664] +110.49sINFOstatic_transform_publisher-7process has finished cleanly [pid 7663] +110.49sERRORlidar_flattener.pyTraceback (most recent call last): +110.49sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +110.49sINFOlidar_flattener.pymain() +110.49sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +110.49sINFOlidar_flattener.pyrclpy.spin(node) +110.49sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +110.49sINFOlidar_flattener.pyexecutor.spin_once() +110.49sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +110.49sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +110.49sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +110.50sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +110.50sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +110.50sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +110.50sINFOlidar_flattener.pyreturn next(self._cb_iter) +110.50sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +110.50sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +110.50sINFOlidar_flattener.pyraise ExternalShutdownException() +110.50sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +110.51sINFOobjective_server_node[2026-09-17 19:43:00.252] [moveit_pro_license] [info] +110.51sINFOobjective_server_node* Application has successfully terminated +110.52sINFOstatic_transform_publisher-3process has finished cleanly [pid 7659] +110.54sERRORlidar_flattener.py-6process has died [pid 7662, 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_aocjk91e']. +110.56sERRORodom_qos_relay.py-5process has died [pid 7661, 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']. +110.57sINFOobjective_server_node_main-29process has finished cleanly [pid 7831] +110.57sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system +110.84sERRORcomponent_container_isolated-2process has died [pid 7658, 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_h7bakkud --params-file /tmp/launch_params_p3zejiy5 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.90sERRORcomponent_container_isolated-1process has died [pid 7657, 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_h7bakkud --params-file /tmp/launch_params_qcl0xz91 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +111.50sINFOodom_world_drift-4process has finished cleanly [pid 7660] +111.51sINFOcomponent_container_mt-30process has finished cleanly [pid 7832] +112.07sINFOweb_bridge-34process has finished cleanly [pid 7838] +112.07sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system +112.13sINFOros2_control_node-12process has finished cleanly [pid 7760] +117.76sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-19-43-05-882898-949096c97fe3-10750 ×2 +122.58sINFOstatic_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' +122.58sINFOstatic_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' +122.58sINFOstatic_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' +122.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +122.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.74sINFOcontroller_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. +122.78sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +122.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +122.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +122.82sINFOcontroller_serverCreating controller server +122.83sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +122.84sINFOstate_estimatorReceived a set_pose request (stamp: 1789674192581942688, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +122.85sINFOlocal_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. +122.86sINFOlocal_costmap.local_costmapCreating Costmap +122.87sINFOros2_control_node-12process started with pid [10903] ×2 +122.87sINFOmove_group-24process started with pid [10928] ×2 +122.87sINFOparameter_manager_node-25process started with pid [10966] ×2 +122.87sINFOwaypoint_manager_node-26process started with pid [10968] ×2 +122.87sINFOmove_joint_resampler_node-27process started with pid [10969] ×2 +122.87sINFOmove_end_effector_resampler_node-28process started with pid [10970] ×2 +122.87sINFOobjective_server_node_main-29process started with pid [10971] ×2 +122.87sINFOcomponent_container_mt-30process started with pid [10972] ×2 +122.87sINFOcomponent_container_mt-31process started with pid [10975] ×2 +122.87sINFOexecute_objective_bridge-32process started with pid [10976] ×2 +122.87sINFOui_teleop_bridge-33process started with pid [10980] ×2 +122.87sINFOweb_bridge-34process started with pid [10981] ×2 +122.87sINFOtf2_web_republisher_node-35process started with pid [10982] ×2 +122.87sINFOvideo_server-36process started with pid [10983] ×2 +122.87sINFOweb_bridge_auth_proxy-37process started with pid [10986] ×2 +122.87sINFOweb_video_auth_proxy-38process started with pid [10988] ×2 +122.87sINFOcomponent_container_isolated-1process started with pid [10800] ×2 +122.87sINFOcomponent_container_isolated-2process started with pid [10801] ×2 +122.87sINFOstatic_transform_publisher-3process started with pid [10802] ×2 +122.87sINFOodom_world_drift-4process started with pid [10803] ×2 +122.87sINFOodom_qos_relay.py-5process started with pid [10804] ×2 +122.87sINFOlidar_flattener.py-6process started with pid [10805] ×2 +122.87sINFOstatic_transform_publisher-7process started with pid [10806] ×2 +122.87sINFOstatic_transform_publisher-8process started with pid [10807] ×2 +122.87sINFOscan_to_scan_filter_chain-9process started with pid [10808] ×2 +122.87sINFOscan_to_scan_filter_chain-10process started with pid [10901] ×2 +122.87sINFOfixed_lag_smoother_node-11process started with pid [10902] ×2 +122.87sINFOros2-13process started with pid [10904] ×2 +122.87sINFOros2-14process started with pid [10905] ×2 +122.87sINFOros2-15process started with pid [10906] ×2 +122.87sINFOros2-16process started with pid [10907] ×2 +122.87sINFOros2-17process started with pid [10912] ×2 +122.88sINFOros2-18process started with pid [10913] ×2 +122.88sINFOros2-19process started with pid [10914] ×2 +122.88sINFOros2-20process started with pid [10915] ×2 +122.88sINFOros2-21process started with pid [10916] ×2 +122.88sINFOros2-22process started with pid [10925] ×2 +122.88sINFOros2-23process started with pid [10927] ×2 +122.89sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +122.91sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +122.92sINFOcontroller_managerupdate rate is 600 Hz +122.92sINFOcontroller_managerOverruns handling is : enabled +122.92sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +122.92sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +122.92sWARNcontroller_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. +122.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +122.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.95sINFOsmoother_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. +122.97sINFOsmoother_serverCreating smoother server +122.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +122.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +122.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +122.99sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +123.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +123.02sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +123.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +123.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +123.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +123.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +123.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +123.07sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +123.07sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +123.07sINFOmap_serverCreating +123.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596864 ms (missed cycles : 3). +123.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596864 ms (missed cycles : 3).[0m ×2 +123.08sINFOplanner_serverCreating +123.09sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +123.11sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +123.11sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +123.11sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +123.12sINFOglobal_costmap.global_costmapCreating Costmap +123.12sINFOrobot_state_publisherRobot initialized +123.12sINFOcontroller_managerReceived robot description from topic. +123.12sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +123.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +123.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +123.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +123.15sINFOvideo_server2026/09/17 19:43:12 INF MediaMTX v1.20.1, linux, amd64 ×2 +123.15sINFOvideo_server2026/09/17 19:43:12 INF configuration loaded from /tmp/moveit-webrtc-kivfhocy/mediamtx.yml ×2 +123.15sINFOvideo_server2026/09/17 19:43:12 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +123.15sINFOvideo_server2026/09/17 19:43:12 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +123.16sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +123.16sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +123.19sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +123.20sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +123.20sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +123.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +123.21sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +123.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +123.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +123.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +123.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +123.24sINFOlifecycle_manager_localizationCreating +123.27sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +123.27sINFObt_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. +123.28sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +123.28sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +123.28sINFOmap_serverConfiguring +123.32sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +123.33sINFObt_navigatorCreating +123.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +123.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +123.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +123.39sINFOwaypoint_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. +123.40sINFOwaypoint_followerCreating +123.41sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +123.41sINFOamclConfiguring +123.42sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +123.42sINFOmap_serverActivating +123.42sINFOmap_serverCreating bond (map_server) to lifecycle manager. +123.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +123.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +123.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +123.46sINFOvelocity_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. +123.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +123.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +123.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +123.51sINFOlifecycle_manager_navigationCreating +123.51sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.342904 seconds +123.52sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +123.52sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +123.52sINFOmove_groupLoaded robot model in 0.342904 seconds[0m ×2 +123.53sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +123.53sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +123.54sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +123.55sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +123.55sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +123.55sINFOcontroller_serverConfiguring controller interface +123.55sINFOcontroller_servergetting progress checker plugins.. +123.55sINFOcontroller_servergetting goal checker plugins.. +123.55sINFOlifecycle_manager_localizationServer map_server connected with bond. +123.55sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +123.55sINFOcontroller_serverController frequency set to 20.0000Hz +123.55sINFOlocal_costmap.local_costmapConfiguring +123.56sINFOamclActivating +123.56sINFOamclSubscribed to initial_pose_topic: /initialpose +123.56sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +123.56sINFOamclSubscribed to map_topic: /map +123.56sINFOamclSubscribed to scan_topic: /scan_merged +123.57sINFOamclCreated reinitialize_global_localization service +123.57sINFOamclCreated request_nomotion_update service +123.57sINFOamclA new map was received +123.57sINFOamclInitializing particle filter instance +123.59sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +123.60sWARNlaser_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. +123.62sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +123.67sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +123.67sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +123.68sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +123.69sWARNlaser_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. +123.74sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +123.74sINFOcontroller_serverController Server has progress_checker progress checkers available. +123.75sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +123.76sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +123.76sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +123.80sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +123.81sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +123.81sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +123.82sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +123.82sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +123.83sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +123.83sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +123.83sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +123.83sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +123.84sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +123.84sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +123.85sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +123.86sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +123.86sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +123.86sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +123.86sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +123.87sINFOcontroller_serverOptimizer reset ×2 +123.88sINFOcontroller_serverController Server has FollowPath controllers available. +123.91sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +123.91sINFOsmoother_serverConfiguring smoother server +123.94sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +123.94sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +123.94sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +123.96sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +123.96sINFOplanner_serverConfiguring +123.96sINFOglobal_costmap.global_costmapConfiguring +123.97sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +123.98sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +123.98sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +123.98sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +123.98sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +124.01sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +124.02sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +124.02sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +124.06sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +124.06sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +124.06sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +124.06sINFOplanner_serverPlanner Server has GridBased planners available. +124.09sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +124.09sINFObehavior_serverConfiguring +124.11sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +124.11sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +124.12sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +124.13sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +124.14sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +124.15sINFObehavior_serverConfiguring spin +124.18sINFObehavior_serverConfiguring backup +124.21sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +124.21sWARNmove_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. +124.21sWARNmove_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. +124.21sWARNmove_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. +124.21sWARNmove_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. +124.21sWARNmove_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. +124.21sWARNmove_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. +124.21sWARNmove_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. +124.21sWARNmove_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. +124.21sINFObehavior_serverConfiguring drive_on_heading +124.21sWARNmove_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. +124.21sWARNmove_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. +124.26sINFObehavior_serverConfiguring assisted_teleop +124.29sINFObehavior_serverConfiguring wait +124.30sINFOamclParticle filter initialization completed +124.31sINFOamclInitializing particles from estimated pose and covariance +124.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +124.31sINFOamclThe bond connection to the lifecycle manager is now fully formed +124.31sINFOlifecycle_manager_localizationServer amcl connected with bond. +124.31sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +124.31sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +124.32sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +124.32sINFObt_navigatorConfiguring +124.33sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +124.34sWARNbt_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 +124.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413590 ms (missed cycles : 3). +124.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413590 ms (missed cycles : 3).[0m ×2 +124.45sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +124.48sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +124.48sINFOwaypoint_followerConfiguring +124.50sINFOmove_group[2026-09-17 19:43:14.247] [moveit_pro_license] [info] ×2 +124.51sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +124.51sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +124.51sINFOvelocity_smootherConfiguring velocity smoother +124.52sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +124.52sINFOcontroller_serverActivating +124.52sINFOlocal_costmap.local_costmapActivating +124.52sINFOlocal_costmap.local_costmapChecking transform +124.52sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×3 +124.68sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +124.68sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +124.73sINFOwaypoint_manager_nodeLoaded robot model in 0.232316 seconds[0m ×2 +124.93sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +124.93sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +124.93sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +124.93sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +124.93sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +124.94sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +124.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +124.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +124.95sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +124.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +124.95sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.19sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.19sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.44sINFOwaypoint_manager_node[2026-09-17 19:43:15.184] [moveit_pro_license] [info] ×2 +125.62sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +125.63sINFOcontroller_managerActivating component 'ur_mujoco_control'. +125.63sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +125.63sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +125.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494291 ms (missed cycles : 2). +125.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494291 ms (missed cycles : 2).[0m ×2 +125.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +125.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +125.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +125.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +125.73sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +125.73sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +125.73sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +125.74sINFOcontroller_managerSuccessfully switched controllers! ×20 +125.74sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +125.88sINFOobjective_server_node[2026-09-17 19:43:15.624] [moveit_pro_license] [info] ×2 +125.95sINFOobjective_server_nodeLoaded robot model in 0.0273606 seconds[0m ×2 +126.02sINFOlocal_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. ×3 +126.10sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +126.10sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +126.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +126.12sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +126.13sINFOros2-14process has finished cleanly [pid 10905] ×2 +126.15sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +126.15sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +126.15sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +126.16sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +126.16sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +126.16sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +126.16sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +126.16sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +126.16sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +126.17sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +126.17sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +126.17sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +126.30sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +126.30sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +126.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +126.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +126.35sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +126.36sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +126.36sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +126.36sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +126.37sWARNobjective_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. +126.37sWARNobjective_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. +126.38sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +126.38sWARNobjective_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. +126.38sWARNobjective_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. +126.38sWARNobjective_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. +126.38sWARNobjective_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. +126.39sINFOstreaming_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) +126.39sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +126.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +126.53sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +126.61sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +126.65sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +126.65sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +126.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996969 ms (missed cycles : 2). +126.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996969 ms (missed cycles : 2).[0m ×2 +126.79sINFOros2_control_node[2026-09-17 19:43:16.537] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +126.80sINFOros2_control_node[2026-09-17 19:43:16.540] [info] Controller state will be published at 10 Hz. ×2 +126.80sINFOros2_control_node[2026-09-17 19:43:16.542] [info] VelocityForceController 'on_configure' succeeded. ×2 +126.89sINFOmove_groupMoveGroup debug mode is ON +126.91sINFOcomponent_container_mtLoaded robot model in 0.368308 seconds[0m ×2 +127.04sINFOmove_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
********************************************************
+127.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +127.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +127.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +127.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +127.16sINFOros2-21process has finished cleanly [pid 10916] ×2 +127.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +127.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +127.17sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +127.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +127.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.31sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.32sWARNplanning_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. +127.48sWARNros2_control_nodeCamera render tick took 0.57 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 +127.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +127.49sINFOcontroller_managerLoading controller 'velocity_force_controller' +127.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +127.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +127.52sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +127.52sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +127.52sINFOlocal_costmap.local_costmapstart +127.53sINFOros2-15process has finished cleanly [pid 10906] ×2 +127.53sINFOcomponent_container_mt[2026-09-17 19:43:17.275] [moveit_pro_license] [info] ×2 +127.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +127.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +127.63sWARNcontroller_serverParameter controller_server.verbose not found +127.63sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +127.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156487 ms (missed cycles : 2). +127.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156487 ms (missed cycles : 2).[0m ×2 +127.73sINFOlifecycle_manager_navigationServer controller_server connected with bond. +127.73sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +127.73sINFOsmoother_serverActivating +127.73sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +127.84sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +127.84sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +127.84sINFOplanner_serverActivating +127.84sINFOglobal_costmap.global_costmapActivating +127.84sINFOglobal_costmap.global_costmapChecking transform +127.84sINFOglobal_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. +127.92sINFOros2_control_node[2026-09-17 19:43:17.665] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +127.92sINFOros2_control_node[2026-09-17 19:43:17.667] [info] Controller state will be published at 10 Hz. ×2 +127.92sINFOros2_control_node[2026-09-17 19:43:17.668] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.03sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 6.872ms +128.24sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +128.24sINFOcontroller_managerLoading controller 'vacuum_gripper' +128.24sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +128.24sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +128.26sINFOros2-20process has finished cleanly [pid 10915] ×2 +128.27sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +128.29sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +128.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +128.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +128.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +128.31sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +128.34sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789674198.053109, but only time 1789674198.287157 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +128.53sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789674196.655 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +128.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +128.61sINFOcontroller_managerLoading controller 'platform_velocity_controller' +128.61sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +128.61sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +128.65sINFOros2-17process has finished cleanly [pid 10912] ×2 +128.68sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +128.68sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +128.69sINFOplatform_velocity_controllerconfigure successful +128.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +128.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913254 ms (missed cycles : 3). +128.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913254 ms (missed cycles : 3).[0m ×2 +128.70sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +128.84sINFOglobal_costmap.global_costmapstart +129.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +129.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +129.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +129.02sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +129.03sINFOros2-16process has finished cleanly [pid 10907] ×2 +129.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +129.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +129.07sINFOforce_torque_sensor_broadcasterconfigure successful +129.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +129.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +129.32sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789674198.256 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +129.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' +129.41sINFOros2-13process has finished cleanly [pid 10904] ×2 +129.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +129.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +129.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +129.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +129.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996180 ms (missed cycles : 2). +129.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996180 ms (missed cycles : 2).[0m ×2 +129.87sINFOros2_control_node[2026-09-17 19:43:19.616] [info] Controller state will be published at 20 Hz. ×2 +129.87sINFOros2_control_node[2026-09-17 19:43:19.617] [info] JointVelocityController 'on_configure' succeeded. ×2 +129.89sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +129.89sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +130.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. +130.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +130.00sINFObehavior_serverActivating +130.00sINFObehavior_serverActivating spin +130.00sINFObehavior_serverActivating backup +130.00sINFObehavior_serverActivating drive_on_heading +130.00sINFObehavior_serverActivating assisted_teleop +130.00sINFObehavior_serverActivating wait +130.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +130.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +130.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +130.10sINFObt_navigatorActivating +130.19sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +130.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +130.21sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +130.21sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +130.21sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +130.25sINFOros2-22process has finished cleanly [pid 10925] ×2 +130.28sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +130.28sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +130.28sINFOplatform_velocity_controller_nav2configure successful +130.30sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +130.30sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +130.30sINFOwaypoint_followerActivating +130.30sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +130.41sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +130.41sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +130.41sINFOvelocity_smootherActivating +130.41sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +130.51sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +130.51sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +130.51sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +130.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +130.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +130.59sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +130.59sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +130.63sINFOros2-18process has finished cleanly [pid 10913] ×2 +130.69sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +130.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +130.70sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +130.70sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +130.70sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +130.70sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +130.71sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +130.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082902 ms (missed cycles : 2). +130.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082902 ms (missed cycles : 2).[0m ×2 +131.01sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +131.01sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +131.02sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag +131.02sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5ah2u118 --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_478cb5ig --params-file /tmp/launch_params_zm2yggag [0m ×2 +131.03sINFOros2-19process has finished cleanly [pid 10914] ×2 +131.07sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +131.07sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +131.44sINFOros2_control_node[2026-09-17 19:43:21.185] [info] Controller state will be published at 20 Hz. ×2 +131.44sINFOros2_control_node[2026-09-17 19:43:21.186] [info] JointVelocityController 'on_configure' succeeded. ×2 +131.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +131.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +131.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.76sINFOros2-23process has finished cleanly [pid 10927] ×2 +131.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879883 ms (missed cycles : 2). +131.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879883 ms (missed cycles : 2).[0m ×2 +132.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401220 ms (missed cycles : 3). +132.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401220 ms (missed cycles : 3).[0m ×2 +133.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). +133.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 +135.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). +135.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 +136.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). +136.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 +136.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +136.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +136.69sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +136.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 +137.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 +137.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). +137.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 +137.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 +138.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). +138.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 +138.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +138.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +138.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 +139.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +139.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +139.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +139.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). +139.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.69sINFOmove_groupClearing octomap...[0m ×4 + 1.69sINFOmove_groupOctomap cleared.[0m ×4 + 1.69sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.69sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.63sINFOjoint_trajectory_controllerReceived new action goal + 5.63sINFOjoint_trajectory_controllerAccepted new action goal + 5.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 20 warnings · 312 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 23 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417282 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.69sINFOobjective_server_nodecaller: ×10 + 2.69sINFOobjective_server_nodetype: 0 ×10 + 2.69sINFOobjective_server_nodename: "" ×10 + 2.69sINFOobjective_server_nodeinstance_id: "" ×10 + 2.69sINFOobjective_server_node ×10 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.73sINFOmove_groupClearing octomap...[0m ×4 + 2.73sINFOmove_groupOctomap cleared.[0m ×4 + 2.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384194 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.64sINFOobjective_server_nodecaller: ×10 + 1.64sINFOobjective_server_nodetype: 0 ×10 + 1.64sINFOobjective_server_nodename: "" ×10 + 1.64sINFOobjective_server_nodeinstance_id: "" ×10 + 1.64sINFOobjective_server_node ×10 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.69sINFOmove_groupClearing octomap...[0m ×4 + 1.69sINFOmove_groupOctomap cleared.[0m ×4 + 1.69sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.69sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.63sINFOjoint_trajectory_controllerReceived new action goal + 5.63sINFOjoint_trajectory_controllerAccepted new action goal + 5.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 23 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826983 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826983 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 | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 321 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668331 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789674206.42856479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789674206.43876886 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789674207.01809216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789674207.02823210 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368904 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789674207.60008717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789674207.75066090 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914464 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789674208.35410953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789674208.43424535 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789674209.01231599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632606 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251401 ms (missed cycles : 4).[0m ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227576 ms (missed cycles : 2).[0m ×2 | ||||