MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

6.4s

Avg test time

61%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

7 fail6 pass24 skip

✕ failed	Move to Arm Upright	move_to_arm_upright.xml	1.4s	24 errors · 40 warnings · 279 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 1.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 1.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.19sINFOobjective_server_nodecaller: ×10 + 2.19sINFOobjective_server_nodetype: 0 ×10 + 2.19sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 2.97sWARNobjective_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 + 2.98sERRORobjective_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 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 5.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2 + 7.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789681094.07557702 seconds ×3 + 7.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.86sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789681094.69219851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2).[0m ×2
✕ failed	Solution - Generate coverage path	solution_generate_coverage_path.xml	1.4s	12 errors · 32 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2).[0m ×2
✕ failed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	1.4s	6 errors · 29 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979276 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979276 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090818 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090818 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573419 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573419 ms (missed cycles : 3).[0m ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.64sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789681105.76833844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707154 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707154 ms (missed cycles : 3).[0m ×2 + 3.78sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 3.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789681106.58852649 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329531 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329531 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789681107.20105743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450653 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450653 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244804 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244804 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2
✕ failed	Plan Path Along Surface	plan_path_along_surface.xml	1.4s	30 errors · 40 warnings · 215 info
+ 0.00sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 0.19sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.20sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.30sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.32sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.33sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.33sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.85sINFOobjective_server_nodecaller: ×8 + 0.85sINFOobjective_server_nodetype: 0 ×8 + 0.85sINFOobjective_server_nodename: "" ×8 + 0.85sINFOobjective_server_nodeinstance_id: "" ×8 + 0.85sINFOobjective_server_node ×8 + 0.89sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2 + 4.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789681094.07557702 seconds ×3 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789681094.69219851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2).[0m ×2 + 5.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789681095.44238710 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750275 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750275 ms (missed cycles : 3).[0m ×2
✕ failed	Solution - Move Forward 2m	solution_move_forward_2m.xml	1.3s	12 errors · 32 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 1.74sINFOjoint_trajectory_controllerGoal reached, success! + 1.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.81sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.34sINFOobjective_server_nodecaller: ×6 + 2.34sINFOobjective_server_nodetype: 0 ×6 + 2.34sINFOobjective_server_nodename: "" ×6 + 2.34sINFOobjective_server_nodeinstance_id: "" ×6 + 2.34sINFOobjective_server_node ×6 + 2.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 3.21sWARNobjective_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 + 3.22sERRORobjective_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 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 4.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.16sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.20sINFOmove_groupClearing octomap...[0m ×2 + 5.20sINFOmove_groupOctomap cleared.[0m ×2 + 5.21sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.21sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4).[0m ×2 + 7.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789681118.99771118 seconds ×3 + 7.81sWARNros2_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
✕ failed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	1.3s	18 errors · 37 warnings · 226 info
+ 0.00sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.580ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.63sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.15sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.15sINFOobjective_server_nodecaller: ×8 + 3.15sINFOobjective_server_nodetype: 0 ×8 + 3.15sINFOobjective_server_nodename: "" ×8 + 3.15sINFOobjective_server_nodeinstance_id: "" ×8 + 3.15sINFOobjective_server_node ×8 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 3.93sWARNobjective_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 + 3.94sERRORobjective_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 + 3.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.05sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 6.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 7.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2
✕ failed	Move to Look at Plane	move_to_look_at_plane.xml	1.3s	30 errors · 40 warnings · 276 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 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: 1789681089.02055454 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 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 1.35sWARNobjective_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 + 1.36sERRORobjective_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 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 3.09sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 4.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.81sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2 + 5.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789681094.07557702 seconds ×3 + 6.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.28sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789681094.69219851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2).[0m ×2 + 7.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789681095.44238710 seconds ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 389 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 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: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.54sINFOobjective_server_nodecaller: ×12 + 0.54sINFOobjective_server_nodetype: 0 ×12 + 0.54sINFOobjective_server_nodename: "" ×12 + 0.54sINFOobjective_server_nodeinstance_id: "" ×12 + 0.54sINFOobjective_server_node ×12 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 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 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 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: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[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 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_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 + 2.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685258 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685258 ms (missed cycles : 2).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622321 ms (missed cycles : 3). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622321 ms (missed cycles : 3).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886496 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886496 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097184 ms (missed cycles : 4). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097184 ms (missed cycles : 4).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172119 ms (missed cycles : 3). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172119 ms (missed cycles : 3).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635217 ms (missed cycles : 2). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635217 ms (missed cycles : 2).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034655 ms (missed cycles : 4). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034655 ms (missed cycles : 4).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273562 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273562 ms (missed cycles : 3).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955712 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955712 ms (missed cycles : 2).[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241434 ms (missed cycles : 4). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241434 ms (missed cycles : 4).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620530 ms (missed cycles : 2). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620530 ms (missed cycles : 2).[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883027 ms (missed cycles : 2). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883027 ms (missed cycles : 2).[0m ×2 + 19.11sWARNros2_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 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099169 ms (missed cycles : 3). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099169 ms (missed cycles : 3).[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238106 ms (missed cycles : 5). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238106 ms (missed cycles : 5).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549556 ms (missed cycles : 3). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549556 ms (missed cycles : 3).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601053 ms (missed cycles : 3). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601053 ms (missed cycles : 3).[0m ×2 + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843027 ms (missed cycles : 3). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843027 ms (missed cycles : 3).[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761666 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761666 ms (missed cycles : 2).[0m ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249000 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249000 ms (missed cycles : 2).[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189194 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189194 ms (missed cycles : 2).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573377 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573377 ms (missed cycles : 2).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669715 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669715 ms (missed cycles : 2).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575517 ms (missed cycles : 3). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575517 ms (missed cycles : 3).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813082 ms (missed cycles : 3). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813082 ms (missed cycles : 3).[0m ×2 + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277818 ms (missed cycles : 3). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277818 ms (missed cycles : 3).[0m ×2 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215645 ms (missed cycles : 2). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215645 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971919 ms (missed cycles : 2). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971919 ms (missed cycles : 2).[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967612 ms (missed cycles : 2). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967612 ms (missed cycles : 2).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155566 ms (missed cycles : 3). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155566 ms (missed cycles : 3).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762774 ms (missed cycles : 3). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762774 ms (missed cycles : 3).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068973 ms (missed cycles : 2). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068973 ms (missed cycles : 2).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066473 ms (missed cycles : 3). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066473 ms (missed cycles : 3).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151235 ms (missed cycles : 3). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151235 ms (missed cycles : 3).[0m ×2 + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408665 ms (missed cycles : 3). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408665 ms (missed cycles : 3).[0m ×2 + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500544 ms (missed cycles : 3). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500544 ms (missed cycles : 3).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4).[0m ×2 + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3). + 45.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3).[0m ×2 + 46.14sINFOjoint_trajectory_controllerGoal reached, success! + 46.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789681082.20533347 seconds ×3 + 46.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.18sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.18sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3). + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3).[0m ×2 + 46.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789681082.79877615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3). + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3).[0m ×2 + 47.84sWARNros2_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 + 47.93sINFOobjective_server_nodeFound path in 0 iterations (2.3594e-05 s). ×2 + 48.01sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3).[0m ×2 + 49.78sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.580ms + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.1s	30 errors · 71 warnings · 273 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 0.04sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 0.06sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 0.06sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 0.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.58sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.58sINFOobjective_server_nodecaller: ×10 + 0.58sINFOobjective_server_nodetype: 0 ×10 + 0.58sINFOobjective_server_nodename: "" ×10 + 0.58sINFOobjective_server_nodeinstance_id: "" ×10 + 0.58sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 1.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 1.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.92sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 1.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2 + 2.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789681094.07557702 seconds ×3 + 3.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789681094.69219851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2).[0m ×2 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789681095.44238710 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750275 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750275 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854942 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854942 ms (missed cycles : 5).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441050 ms (missed cycles : 4). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441050 ms (missed cycles : 4).[0m ×2 + 8.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432161 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432161 ms (missed cycles : 3).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052855 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052855 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979276 ms (missed cycles : 5). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979276 ms (missed cycles : 5).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090818 ms (missed cycles : 5). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090818 ms (missed cycles : 5).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573419 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573419 ms (missed cycles : 3).[0m ×2 + 14.14sWARNros2_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 + 14.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789681105.76833844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707154 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707154 ms (missed cycles : 3).[0m ×2 + 15.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789681106.58852649 seconds ×3 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329531 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329531 ms (missed cycles : 2).[0m ×2 + 15.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.85sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789681107.20105743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.34sINFOjoint_trajectory_controllerReceived new action goal + 16.34sINFOjoint_trajectory_controllerAccepted new action goal + 16.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450653 ms (missed cycles : 4). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450653 ms (missed cycles : 4).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.0s	100 errors · 37 warnings · 492 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.63sINFOmove_groupClearing octomap...[0m ×2 + 0.63sINFOmove_groupOctomap cleared.[0m ×2 + 0.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789681118.99771118 seconds ×3 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789681119.57152534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768894 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768894 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789681120.43166304 seconds ×3 + 4.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338444 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338444 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186871 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186871 ms (missed cycles : 2).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854365 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854365 ms (missed cycles : 2).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073544 ms (missed cycles : 4). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073544 ms (missed cycles : 4).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872200 ms (missed cycles : 5). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872200 ms (missed cycles : 5).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259142 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259142 ms (missed cycles : 2).[0m ×2 + 10.32sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.34sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORweb_video_auth_proxy-38process has died [pid 10966, 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 + 10.35sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.36sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORweb_bridge_auth_proxy-37process has died [pid 10965, 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 + 10.36sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.40sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.41sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.42sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.43sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.44sINFOvideo_server-36process has finished cleanly [pid 10964] ×2 + 10.44sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.45sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.45sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.46sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.47sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.49sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.50sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.51sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.52sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.54sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.54sINFOcontroller_managerShutdown request received.... + 10.54sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.54sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.54sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.54sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.54sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.54sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.54sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.54sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.54sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.54sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.54sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.54sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.54sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.54sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.54sINFOcontroller_managerShutting down the controller manager. + 10.56sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 10.57sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.58sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.60sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.61sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.62sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.63sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.64sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.66sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.66sINFOtf2_web_republisher_node-35process has finished cleanly [pid 10958] ×2 + 10.67sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.67sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.67sINFOmap_serverDeactivating + 10.67sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.68sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.68sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.68sINFOcontroller_serverDeactivating + 10.68sINFOlocal_costmap.local_costmapDeactivating + 10.68sINFOvideo_server2026/09/17 21:38:46 INF shutting down gracefully ×2 + 10.68sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.68sINFOmap_serverCleaning up + 10.68sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.68sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.68sINFOvideo_server2026/09/17 21:38:46 INF [WebRTC] closing ×2 + 10.68sINFOvideo_server2026/09/17 21:38:46 INF [RTSP] closing ×2 + 10.68sINFOvideo_server2026/09/17 21:38:46 INF waiting for running hooks ×2 + 10.68sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.68sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.68sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.68sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.69sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.69sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.69sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.69sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.69sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.69sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.69sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.69sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.69sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.69sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.69sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.69sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.69sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.69sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.69sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.69sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.69sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.69sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.69sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.69sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.69sINFOmove_groupDeleting MoveItCpp[0m ×2 + 10.69sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.69sINFOmove_groupStopping world geometry monitor[0m ×2 + 10.69sINFOmove_groupStopping planning scene monitor[0m ×2 + 10.69sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.69sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.69sINFOodom_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 + 10.69sINFOodom_qos_relay.pymain() ×2 + 10.69sINFOodom_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 + 10.69sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.69sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.69sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.69sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.70sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.70sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.70sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.70sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.70sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.70sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.70sERRORamclThe bond connection to the lifecycle manager has been broken + 10.70sINFOcontroller_serverCleaning up + 10.70sINFOlocal_costmap.local_costmapCleaning up + 10.73sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 10931] ×2 + 10.74sINFOmove_joint_resampler_node-27process has finished cleanly [pid 10928] ×2 + 10.75sINFOui_teleop_bridge-33process has finished cleanly [pid 10955] ×2 + 10.75sINFOwaypoint_manager_node-26process has finished cleanly [pid 10927] ×2 + 10.75sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.75sINFOsmoother_serverDeactivating + 10.75sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.76sINFOparameter_manager_node-25process has finished cleanly [pid 10926] ×2 + 10.76sINFOsmoother_serverCleaning up + 10.78sINFOexecute_objective_bridge-32process has finished cleanly [pid 10953] ×2 + 10.78sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.78sINFOplanner_serverDeactivating + 10.78sINFOglobal_costmap.global_costmapDeactivating + 10.79sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 10850] ×2 + 10.80sINFOobjective_server_node[2026-09-17 21:38:46.618] [moveit_pro_license] [info] ×2 + 10.80sINFOobjective_server_node************************************************* ×4 + 10.80sINFOobjective_server_node* MoveIt Pro License ×2 + 10.80sINFOobjective_server_node* Application has successfully terminated ×2 + 10.81sINFOcomponent_container_mt-31process has finished cleanly [pid 10938] ×2 + 10.81sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 10849] ×2 + 10.82sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 10756] ×2 + 10.83sINFOstatic_transform_publisher-8process has finished cleanly [pid 10755] ×2 + 10.84sINFOcomponent_container_mt-30process has finished cleanly [pid 10937] ×2 + 10.84sINFOstatic_transform_publisher-7process has finished cleanly [pid 10754] ×2 + 10.85sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.85sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.85sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 10.85sINFOlidar_flattener.pymain() ×2 + 10.85sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 10.85sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.85sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.85sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.85sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.85sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.85sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.85sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.85sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.85sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.85sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.85sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.85sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.85sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 10.85sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 10.86sINFOmove_group-24process has finished cleanly [pid 10888] ×2 + 10.88sINFOobjective_server_node_main-29process has finished cleanly [pid 10936] ×2 + 10.88sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 10.88sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.88sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.88sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.88sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.88sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.88sINFOvelocity_smootherDeactivating + 10.88sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.88sINFOstatic_transform_publisher-3process has finished cleanly [pid 10750] ×2 + 10.91sERRORlidar_flattener.py-6process has died [pid 10753, 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_oxr5wbiy']. ×2 + 10.93sERRORodom_qos_relay.py-5process has died [pid 10752, 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 + 10.96sINFOodom_world_drift-4process has finished cleanly [pid 10751] ×2 + 11.00sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.00sINFOwaypoint_followerDeactivating + 11.00sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.11sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.11sINFObt_navigatorDeactivating + 11.11sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.20sERRORcomponent_container_isolated-2process has died [pid 10749, 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_w6vy4wr6 --params-file /tmp/launch_params_7007sk3m -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.22sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.22sINFObehavior_serverDeactivating + 11.22sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.33sINFOros2_control_node-12process has finished cleanly [pid 10851] ×2 + 11.33sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.33sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.33sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.33sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.33sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.34sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.34sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.34sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.34sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.34sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.34sINFOvelocity_smootherCleaning up + 11.34sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.34sINFOwaypoint_followerCleaning up + 11.37sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.37sINFObt_navigatorCleaning up + 11.41sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.41sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.42sINFOplanner_serverCleaning up + 11.44sINFOglobal_costmap.global_costmapCleaning up + 11.45sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.45sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.47sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.47sINFObehavior_serverCleaning up + 11.48sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.48sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.48sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.48sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.53sINFObt_navigatorCompleted Cleaning up + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.58sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.58sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.58sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.58sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.58sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.58sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.58sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.86sERRORcomponent_container_isolated-1process has died [pid 10748, 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_w6vy4wr6 --params-file /tmp/launch_params_zjqyp_75 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.10sINFOweb_bridge-34process has finished cleanly [pid 10956] ×2 + 13.10sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	18 errors · 52 warnings · 280 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090818 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573419 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573419 ms (missed cycles : 3).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 1.35sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 1.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 1.37sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×5 + 1.37sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×10 + 1.60sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.89sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.89sINFOobjective_server_nodecaller: ×10 + 1.89sINFOobjective_server_nodetype: 0 ×10 + 1.89sINFOobjective_server_nodename: "" ×10 + 1.89sINFOobjective_server_nodeinstance_id: "" ×10 + 1.89sINFOobjective_server_node ×10 + 1.94sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789681105.76833844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707154 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707154 ms (missed cycles : 3).[0m ×2 + 2.74sWARNobjective_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 + 2.76sERRORobjective_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 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789681106.58852649 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329531 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329531 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789681107.20105743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450653 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450653 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244804 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244804 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 6.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 9.16sINFOjoint_trajectory_controllerGoal reached, success! + 9.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 9.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.76sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 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 3.579262 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 10.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 11.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 12.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 12.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.62sINFOmove_groupClearing octomap...[0m ×2 + 12.62sINFOmove_groupOctomap cleared.[0m ×2 + 12.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.63sINFOcomponent_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 · 45 warnings · 242 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789681082.20533347 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.53sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.53sINFOobjective_server_nodecaller: ×8 + 2.53sINFOobjective_server_nodetype: 0 ×8 + 2.53sINFOobjective_server_nodename: "" ×8 + 2.53sINFOobjective_server_nodeinstance_id: "" ×8 + 2.53sINFOobjective_server_node ×8 + 2.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789681082.79877615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3).[0m ×2 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.3594e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.580ms + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 6.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 7.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 8.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 8.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 8.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.76sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 9.35sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 9.54sWARNobjective_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 + 9.55sERRORobjective_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 + 9.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 10.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 11.28sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 11.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.65sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.69sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✓ passed	Take Scene Camera Snapshot	take_snap.xml	3.1s	12 errors · 35 warnings · 221 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.07sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.60sINFOobjective_server_nodecaller: ×8 + 0.60sINFOobjective_server_nodetype: 0 ×8 + 0.60sINFOobjective_server_nodename: "" ×8 + 0.60sINFOobjective_server_nodeinstance_id: "" ×8 + 0.60sINFOobjective_server_node ×8 + 0.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 1.47sWARNobjective_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 + 1.48sERRORobjective_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 + 1.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789681118.99771118 seconds ×3 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.55sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789681119.57152534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768894 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768894 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789681120.43166304 seconds ×3 + 7.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338444 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338444 ms (missed cycles : 2).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186871 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186871 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 319 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 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: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.54sINFOobjective_server_nodecaller: ×10 + 0.54sINFOobjective_server_nodetype: 0 ×10 + 0.54sINFOobjective_server_nodename: "" ×10 + 0.54sINFOobjective_server_nodeinstance_id: "" ×10 + 0.54sINFOobjective_server_node ×10 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 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 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 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: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[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 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_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 + 2.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	20 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! + 1.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789681082.20533347 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.99sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.53sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.53sINFOobjective_server_nodecaller: ×2 + 2.53sINFOobjective_server_nodetype: 0 ×2 + 2.53sINFOobjective_server_nodename: "" ×2 + 2.53sINFOobjective_server_nodeinstance_id: "" ×2 + 2.53sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789681082.79877615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3).[0m ×2 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.3594e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.580ms + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	20 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232474 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311957 ms (missed cycles : 3).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! + 1.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789681082.20533347 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.99sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977911 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.53sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.53sINFOobjective_server_nodecaller: ×2 + 2.53sINFOobjective_server_nodetype: 0 ×2 + 2.53sINFOobjective_server_nodename: "" ×2 + 2.53sINFOobjective_server_nodeinstance_id: "" ×2 + 2.53sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789681082.79877615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707545 ms (missed cycles : 3).[0m ×2 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.3594e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042563 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.580ms + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	12 errors · 28 warnings · 173 info
+ 0.00sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.580ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464425 ms (missed cycles : 3).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.62sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 3.93sWARNobjective_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 + 3.94sERRORobjective_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. ×6 + 3.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.05sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	18 errors · 34 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 2.97sWARNobjective_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 + 2.98sERRORobjective_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 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 5.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	18 errors · 34 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 2.97sWARNobjective_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 + 2.98sERRORobjective_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 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 5.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	18 errors · 34 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 2.97sWARNobjective_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 + 2.98sERRORobjective_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 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 5.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	18 errors · 34 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 2.97sWARNobjective_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 + 2.98sERRORobjective_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 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 5.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	18 errors · 34 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336388 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403669 ms (missed cycles : 3).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789681088.43890142 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.19sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.19sINFOobjective_server_nodecaller: ×8 + 2.19sINFOobjective_server_nodetype: 0 ×8 + 2.19sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789681089.02055454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522786 ms (missed cycles : 2).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 2.97sWARNobjective_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 + 2.98sERRORobjective_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 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 5.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 6.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	30 errors · 37 warnings · 215 info
+ 0.00sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 0.19sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.20sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.30sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.32sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.33sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.33sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.85sINFOobjective_server_nodecaller: ×8 + 0.85sINFOobjective_server_nodetype: 0 ×8 + 0.85sINFOobjective_server_nodename: "" ×8 + 0.85sINFOobjective_server_nodeinstance_id: "" ×8 + 0.85sINFOobjective_server_node ×8 + 0.89sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2 + 4.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789681094.07557702 seconds ×3 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789681094.69219851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2).[0m ×2 + 5.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789681095.44238710 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	30 errors · 37 warnings · 215 info
+ 0.00sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 0.19sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.20sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.30sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.32sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.33sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.33sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.85sINFOobjective_server_nodecaller: ×8 + 0.85sINFOobjective_server_nodetype: 0 ×8 + 0.85sINFOobjective_server_nodename: "" ×8 + 0.85sINFOobjective_server_nodeinstance_id: "" ×8 + 0.85sINFOobjective_server_node ×8 + 0.89sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2 + 4.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789681094.07557702 seconds ×3 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789681094.69219851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2).[0m ×2 + 5.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789681095.44238710 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	30 errors · 37 warnings · 215 info
+ 0.00sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.141ms + 0.19sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.20sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789681089.77087784 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.30sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.32sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.33sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.33sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148764 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.85sINFOobjective_server_nodecaller: ×8 + 0.85sINFOobjective_server_nodetype: 0 ×8 + 0.85sINFOobjective_server_nodename: "" ×8 + 0.85sINFOobjective_server_nodeinstance_id: "" ×8 + 0.85sINFOobjective_server_node ×8 + 0.89sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789681090.45406246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789681091.30423760 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211613 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789681091.91291761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959608 ms (missed cycles : 3).[0m ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789681092.65311480 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789681093.27540135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296548 ms (missed cycles : 2).[0m ×2 + 4.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789681094.07557702 seconds ×3 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789681094.69219851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811849 ms (missed cycles : 2).[0m ×2 + 5.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789681095.44238710 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243429 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	12 errors · 29 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	12 errors · 29 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_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 · 29 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_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 · 29 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_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 · 29 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	12 errors · 29 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	12 errors · 29 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308949 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936748 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060381 ms (missed cycles : 4).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.41sINFOobjective_server_nodecaller: ×6 + 3.41sINFOobjective_server_nodetype: 0 ×6 + 3.41sINFOobjective_server_nodename: "" ×6 + 3.41sINFOobjective_server_nodeinstance_id: "" ×6 + 3.41sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 4.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.27sINFOmove_groupClearing octomap...[0m ×2 + 6.27sINFOmove_groupOctomap cleared.[0m ×2 + 6.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	12 errors · 26 warnings · 196 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789681113.04119563 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.07sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×8 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503101 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.60sINFOobjective_server_nodecaller: ×6 + 0.60sINFOobjective_server_nodetype: 0 ×6 + 0.60sINFOobjective_server_nodename: "" ×6 + 0.60sINFOobjective_server_nodeinstance_id: "" ×6 + 0.60sINFOobjective_server_node ×6 + 0.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789681113.63822341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579262 ms (missed cycles : 3).[0m ×2 + 1.47sWARNobjective_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 + 1.48sERRORobjective_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 + 1.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789681114.46840286 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789681115.11278629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928413 ms (missed cycles : 3).[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789681115.83296514 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648613 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789681116.44757533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957636 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312707 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789681118.99771118 seconds ×3 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	21.5s	77 errors · 518 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/2026-09-17-21-34-55-829849-0b8edf67e67b-7583 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.30sINFOros2_control_node-12process started with pid [7738] + 5.30sINFOmove_group-24process started with pid [7752] + 5.30sINFOparameter_manager_node-25process started with pid [7804] + 5.30sINFOwaypoint_manager_node-26process started with pid [7809] + 5.30sINFOmove_joint_resampler_node-27process started with pid [7811] + 5.30sINFOmove_end_effector_resampler_node-28process started with pid [7812] + 5.30sINFOobjective_server_node_main-29process started with pid [7814] + 5.30sINFOcomponent_container_mt-30process started with pid [7815] + 5.30sINFOcomponent_container_mt-31process started with pid [7816] + 5.30sINFOexecute_objective_bridge-32process started with pid [7817] + 5.30sINFOui_teleop_bridge-33process started with pid [7818] + 5.30sINFOweb_bridge-34process started with pid [7824] + 5.30sINFOtf2_web_republisher_node-35process started with pid [7831] + 5.30sINFOvideo_server-36process started with pid [7832] + 5.30sINFOweb_bridge_auth_proxy-37process started with pid [7833] + 5.30sINFOweb_video_auth_proxy-38process started with pid [7834] + 5.30sINFOcomponent_container_isolated-1process started with pid [7633] + 5.30sINFOcomponent_container_isolated-2process started with pid [7634] + 5.30sINFOstatic_transform_publisher-3process started with pid [7635] + 5.30sINFOodom_world_drift-4process started with pid [7636] + 5.30sINFOodom_qos_relay.py-5process started with pid [7637] + 5.30sINFOlidar_flattener.py-6process started with pid [7638] + 5.30sINFOstatic_transform_publisher-7process started with pid [7639] + 5.31sINFOstatic_transform_publisher-8process started with pid [7640] + 5.31sINFOscan_to_scan_filter_chain-9process started with pid [7641] + 5.31sINFOscan_to_scan_filter_chain-10process started with pid [7736] + 5.31sINFOfixed_lag_smoother_node-11process started with pid [7737] + 5.31sINFOros2-13process started with pid [7739] + 5.31sINFOros2-14process started with pid [7740] + 5.31sINFOros2-15process started with pid [7741] + 5.31sINFOros2-16process started with pid [7742] + 5.31sINFOros2-17process started with pid [7743] + 5.31sINFOros2-18process started with pid [7744] + 5.31sINFOros2-19process started with pid [7745] + 5.31sINFOros2-20process started with pid [7746] + 5.31sINFOros2-21process started with pid [7747] + 5.31sINFOros2-22process started with pid [7748] + 5.31sINFOros2-23process started with pid [7749] + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.36sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 5.36sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 5.36sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 5.36sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 5.36sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.36sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.36sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.36sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.36sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.36sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.36sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.37sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.37sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.37sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.37sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.37sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.37sWARNros2_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 + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.48sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.62sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.62sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.62sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.66sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.86sINFOvideo_server2026/09/17 21:35:03 INF MediaMTX v1.20.1, linux, amd64 + 5.86sINFOvideo_server2026/09/17 21:35:03 INF configuration loaded from /tmp/moveit-webrtc-3h6d3fyt/mediamtx.yml + 5.87sINFOvideo_server2026/09/17 21:35:03 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.87sINFOvideo_server2026/09/17 21:35:03 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.89sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.90sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899318 ms (missed cycles : 2).[0m + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.97sWARNscan_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 + 6.06sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 6.09sINFOmove_groupLoaded robot model in 0.50626 seconds[0m + 6.09sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 6.09sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.88sINFOwaypoint_manager_nodeLoaded robot model in 0.437605 seconds[0m + 6.89sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.89sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.01sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_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 + 7.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.28sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.28sINFOmove_group[2026-09-17 21:35:04.858] [moveit_pro_license] [info] + 7.28sINFOmove_group************************************************* ×6 + 7.28sINFOmove_group* MoveIt Pro License ×3 + 7.28sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.31sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 7.31sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.41sWARNwaypoint_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 + 7.41sWARNwaypoint_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 + 7.41sWARNwaypoint_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 + 7.41sWARNwaypoint_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 + 7.41sWARNwaypoint_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 + 7.42sWARNwaypoint_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 + 7.42sWARNwaypoint_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 + 7.42sWARNwaypoint_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 + 7.43sWARNwaypoint_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 + 7.43sWARNwaypoint_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 + 7.43sWARNwaypoint_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 + 7.43sWARNwaypoint_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 + 7.43sWARNwaypoint_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 + 7.72sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.72sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.73sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.73sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.73sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.73sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.74sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.74sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.74sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.74sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.74sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.84sINFOwaypoint_manager_node[2026-09-17 21:35:05.419] [moveit_pro_license] [info] + 7.84sINFOwaypoint_manager_node************************************************* ×6 + 7.84sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.84sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.14sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 8.14sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 8.14sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 8.15sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 8.15sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 8.15sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 8.15sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 8.15sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 8.15sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 8.15sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 8.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 8.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 8.15sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 8.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 8.15sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.15sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 8.15sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.15sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 8.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 8.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 8.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 8.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 8.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 8.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 8.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.16sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 8.25sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 8.25sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 8.25sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 8.28sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 8.29sINFOros2_control_nodeconfigure successful[0m ×9 + 8.29sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 8.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720588 ms (missed cycles : 2).[0m + 8.40sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.40sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.40sWARNros2_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 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 8.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 8.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 8.65sINFOros2-13process has finished cleanly [pid 7739] + 8.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 8.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 8.72sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 8.72sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 8.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 8.73sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 8.73sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 8.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 8.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.78sWARNcomponent_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 + 8.97sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.97sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 8.99sINFOobjective_server_node[2026-09-17 21:35:06.562] [moveit_pro_license] [info] + 8.99sINFOobjective_server_node************************************************* ×8 + 8.99sINFOobjective_server_node* MoveIt Pro License ×4 + 8.99sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.03sINFOros2-19process has finished cleanly [pid 7745] + 9.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 9.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 9.10sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 9.10sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 9.10sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 9.11sINFOobjective_server_nodeLoaded robot model in 0.0547903 seconds[0m + 9.11sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 9.11sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.11sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 9.11sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 9.11sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 9.11sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 9.11sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 9.12sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 9.12sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 9.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 9.12sINFOcomponent_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 + 9.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 9.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 9.20sINFOcomponent_container_mtLoaded robot model in 0.417897 seconds[0m + 9.20sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 9.20sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.21sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 9.22sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 9.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 9.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.34sINFOcomponent_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 + 9.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 9.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914190 ms (missed cycles : 2).[0m + 9.50sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.50sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.55sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.55sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.55sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.55sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.56sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.56sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.60sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.66sINFOmove_group ×12 + 9.66sINFOmove_group******************************************************** ×6 + 9.66sINFOmove_group* MoveGroup using: ×3 + 9.66sINFOmove_group* - apply_planning_scene_service ×3 + 9.66sINFOmove_group* - clear_octomap_service ×3 + 9.66sINFOmove_group* - get_group_urdf ×3 + 9.66sINFOmove_group* - load_geometry_from_file ×3 + 9.66sINFOmove_group* - get_planning_scene_service ×3 + 9.66sINFOmove_group* - kinematics_service ×3 + 9.66sINFOmove_group* - save_geometry_to_file ×3 + 9.66sINFOmove_group* - GetPlanningGroups ×3 + 9.66sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.66sINFOmove_group[0m ×3 + 9.66sINFOmove_group[92mYou can start planning now![0m ×3 + 9.68sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.76sINFOros2_control_node[2026-09-17 21:35:07.332] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.76sINFOros2_control_node[2026-09-17 21:35:07.336] [info] Controller state will be published at 10 Hz. + 9.76sINFOros2_control_node[2026-09-17 21:35:07.337] [info] VelocityForceController 'on_configure' succeeded. + 9.77sWARNcomponent_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 + 9.77sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 9.77sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 9.77sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.77sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.78sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.79sWARNcomponent_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 + 9.81sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.81sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.81sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.81sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.81sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.81sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.81sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.99sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 10.01sINFOcomponent_container_mt[2026-09-17 21:35:07.585] [moveit_pro_license] [info] + 10.01sINFOcomponent_container_mt************************************************* ×6 + 10.01sINFOcomponent_container_mt* MoveIt Pro License ×3 + 10.01sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 10.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 10.14sINFOros2-21process has finished cleanly [pid 7747] + 10.22sWARNros2_control_nodeCamera render tick took 0.92 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 10.22sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 10.26sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.26sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.27sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 10.27sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 10.36sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.36sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835013 ms (missed cycles : 2).[0m + 10.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.83sINFOros2_control_node[2026-09-17 21:35:08.403] [info] Controller state will be published at 20 Hz. + 10.83sINFOros2_control_node[2026-09-17 21:35:08.404] [info] JointVelocityController 'on_configure' succeeded. + 10.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m + 11.13sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 11.13sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 11.13sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 11.19sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 11.19sINFOros2-22process has finished cleanly [pid 7748] + 11.20sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 11.20sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 11.21sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804407 ms (missed cycles : 2).[0m + 11.49sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 11.50sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 11.55sINFOros2-14process has finished cleanly [pid 7740] + 11.57sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 11.57sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 11.68sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 11.94sINFOros2-18process has finished cleanly [pid 7744] + 11.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 11.96sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 12.01sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 12.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 12.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978676 ms (missed cycles : 2).[0m + 12.54sINFOros2_control_node[2026-09-17 21:35:10.117] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.54sINFOros2_control_node[2026-09-17 21:35:10.119] [info] Controller state will be published at 10 Hz. + 12.54sINFOros2_control_node[2026-09-17 21:35:10.120] [info] VelocityForceController 'on_configure' succeeded. + 12.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 12.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 12.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 12.91sINFOros2-20process has finished cleanly [pid 7746] + 12.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 12.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 12.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 12.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 12.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 13.25sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 13.25sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 13.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 13.30sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 13.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 13.31sINFOros2-15process has finished cleanly [pid 7741] + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174422 ms (missed cycles : 3).[0m + 13.84sINFOros2_control_node[2026-09-17 21:35:11.414] [info] Controller state will be published at 20 Hz. + 13.84sINFOros2_control_node[2026-09-17 21:35:11.415] [info] JointVelocityController 'on_configure' succeeded. + 14.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 14.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 14.20sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 14.21sINFOros2-23process has finished cleanly [pid 7749] + 14.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 14.25sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 14.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 14.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 14.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 14.26sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 14.60sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 14.60sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 14.60sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jsw0duq4 --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_hk7swrvg --params-file /tmp/launch_params_xdffa1t5 [0m + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907350 ms (missed cycles : 3).[0m + 14.62sINFOros2-17process has finished cleanly [pid 7743] + 14.65sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 14.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 14.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 14.67sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 14.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×7 + 14.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 14.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 14.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 14.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 14.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×7 + 14.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×7 + 15.01sINFOros2-16process has finished cleanly [pid 7742] + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965532 ms (missed cycles : 2).[0m + 15.99sWARNros2_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 ×3 + 16.50sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901623 ms (missed cycles : 3).[0m + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767684 ms (missed cycles : 4).[0m + 18.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944250 ms (missed cycles : 2).[0m + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148480 ms (missed cycles : 3).[0m + 20.02sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 20.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 20.02sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 20.02sINFOobjective_server_nodeparameter_overrides: [] ×27 + 20.02sINFOobjective_server_nodecaller: ×27 + 20.02sINFOobjective_server_nodetype: 0 ×27 + 20.02sINFOobjective_server_nodename: "" ×27 + 20.02sINFOobjective_server_nodeinstance_id: "" ×27 + 20.02sINFOobjective_server_node ×27 + 20.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789680917.63892698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.06sINFOmove_groupClearing octomap...[0m ×7 + 20.07sINFOmove_groupOctomap cleared.[0m ×7 + 20.07sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 20.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789680917.64913344 seconds + 20.62sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 20.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789680918.23555374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789680918.24568868 seconds + 20.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243017 ms (missed cycles : 2).[0m + 21.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 21.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789680918.82956219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789680918.98018932 seconds + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304801 ms (missed cycles : 2).[0m + 21.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 22.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789680919.58044195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 22.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m + 22.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 22.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 22.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789680919.63060546 seconds + 22.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 22.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789680920.21233582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 22.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 22.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 22.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149193 ms (missed cycles : 2).[0m + 23.70sINFOobjective_server_nodePlanning for 177 path waypoints. + 24.02sINFOros2_control_nodeReceived new action goal[0m ×3 + 24.02sINFOros2_control_nodeAccepted new action goal[0m ×3 + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148196 ms (missed cycles : 2).[0m + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815648 ms (missed cycles : 3).[0m + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043712 ms (missed cycles : 3).[0m + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019540 ms (missed cycles : 2).[0m + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880191 ms (missed cycles : 2).[0m + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713462 ms (missed cycles : 2).[0m + 30.47sWARNros2_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 + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823779 ms (missed cycles : 3).[0m + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657680 ms (missed cycles : 3).[0m + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196336 ms (missed cycles : 2).[0m + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889620 ms (missed cycles : 3).[0m + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905227 ms (missed cycles : 3).[0m + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828296 ms (missed cycles : 2).[0m + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133658 ms (missed cycles : 2).[0m + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791905 ms (missed cycles : 3).[0m + 39.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697570 ms (missed cycles : 3).[0m + 40.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200174 ms (missed cycles : 5).[0m + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763492 ms (missed cycles : 4).[0m + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271664 ms (missed cycles : 2).[0m + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737601 ms (missed cycles : 3).[0m + 43.88sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 43.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×3 + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893652 ms (missed cycles : 2).[0m + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156517 ms (missed cycles : 4).[0m + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646893 ms (missed cycles : 2).[0m + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390925 ms (missed cycles : 3).[0m + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458803 ms (missed cycles : 3).[0m + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899613 ms (missed cycles : 3).[0m + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731022 ms (missed cycles : 3).[0m + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047064 ms (missed cycles : 3).[0m + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192882 ms (missed cycles : 2).[0m + 54.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247128 ms (missed cycles : 2).[0m + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311465 ms (missed cycles : 2).[0m + 56.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717862 ms (missed cycles : 3).[0m + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860837 ms (missed cycles : 3).[0m + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479251 ms (missed cycles : 3).[0m + 59.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626690 ms (missed cycles : 2).[0m + 60.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813366 ms (missed cycles : 2).[0m + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265771 ms (missed cycles : 3).[0m + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963178 ms (missed cycles : 3).[0m + 63.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511160 ms (missed cycles : 2).[0m + 65.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618388 ms (missed cycles : 3).[0m + 65.70sINFOros2_control_nodeGoal reached, success![0m ×3 + 65.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789680963.30185699 seconds + 65.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 66.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770410 ms (missed cycles : 4).[0m + 66.26sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 66.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789680963.87936401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 67.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750507 ms (missed cycles : 2).[0m + 67.44sINFOobjective_server_nodeFound path in 0 iterations (3.6117e-05 s). + 67.51sINFOobjective_server_nodePath shortcutter: [X________________________X] + 67.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 68.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733406 ms (missed cycles : 3).[0m + 69.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397375 ms (missed cycles : 3).[0m + 70.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462895 ms (missed cycles : 3).[0m + 71.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261953 ms (missed cycles : 2).[0m + 71.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789680969.47949648 seconds + 72.45sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 72.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789680970.06717491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251881 ms (missed cycles : 2).[0m + 73.24sWARNobjective_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. ×8 + 73.25sERRORobjective_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. ×8 + 73.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789680970.82739210 seconds + 73.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222788 ms (missed cycles : 2).[0m + 73.89sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 73.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789680971.51378870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789680972.34398389 seconds + 74.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472965 ms (missed cycles : 2).[0m + 75.33sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 75.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789680972.94804645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576066 ms (missed cycles : 3).[0m + 76.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789680973.68826580 seconds + 76.68sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 76.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789680974.30419540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195599 ms (missed cycles : 3).[0m + 77.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789680975.03441954 seconds + 78.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863637 ms (missed cycles : 2).[0m + 78.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 78.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789680975.65286922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 78.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789680976.44304466 seconds + 79.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954842 ms (missed cycles : 3).[0m + 80.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963851 ms (missed cycles : 2).[0m + 81.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756586 ms (missed cycles : 3).[0m + 82.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654360 ms (missed cycles : 4).[0m + 83.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508819 ms (missed cycles : 3).[0m + 84.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946979 ms (missed cycles : 2).[0m + 85.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469601 ms (missed cycles : 3).[0m + 86.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227918 ms (missed cycles : 3).[0m + 87.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290288 ms (missed cycles : 2).[0m + 88.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477237 ms (missed cycles : 3).[0m + 88.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 88.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789680986.46924973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273809 ms (missed cycles : 2).[0m + 89.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789680987.22943807 seconds + 90.22sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 90.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789680987.84033465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 90.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341540 ms (missed cycles : 3).[0m + 91.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608277 ms (missed cycles : 3).[0m + 92.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723310 ms (missed cycles : 2).[0m + 93.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461732 ms (missed cycles : 3).[0m + 94.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792433 ms (missed cycles : 3).[0m + 95.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529659 ms (missed cycles : 3).[0m + 96.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789680993.68048477 seconds + 96.65sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 96.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789680994.26838183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706914 ms (missed cycles : 3).[0m + 97.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789680995.00856280 seconds + 98.00sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 98.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789680995.63065076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995535 ms (missed cycles : 2).[0m + 98.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789680996.43082643 seconds + 99.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508290 ms (missed cycles : 3).[0m + 99.45sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 99.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789680997.06352210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +100.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681674 ms (missed cycles : 2).[0m +101.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910924 ms (missed cycles : 3).[0m +102.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584507 ms (missed cycles : 3).[0m +102.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789681000.16367173 seconds +103.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +103.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789681000.73997235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +103.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014210 ms (missed cycles : 2).[0m +104.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789681001.64012051 seconds +104.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +104.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673737 ms (missed cycles : 3).[0m +105.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627961 ms (missed cycles : 3).[0m +106.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412931 ms (missed cycles : 4).[0m +107.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017178 ms (missed cycles : 2).[0m +108.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161735 ms (missed cycles : 2).[0m +109.83sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.84sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.84sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.84sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.84sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.84sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.84sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.85sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.85sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.85sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.85sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.85sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.86sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.86sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.86sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] +109.87sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.87sERRORweb_video_auth_proxy-38process has died [pid 7834, 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']. +109.87sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.87sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.87sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.88sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] +109.89sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.89sERRORweb_bridge_auth_proxy-37process has died [pid 7833, 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']. +109.89sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.89sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.89sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.89sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.90sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.90sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.90sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.90sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.90sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] +109.91sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] +109.92sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] +109.93sINFOvideo_server-36process has finished cleanly [pid 7832] +109.93sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] +109.94sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] +109.95sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] +109.97sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +109.98sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] +109.99sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] +110.00sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] +110.01sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] +110.03sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] +110.04sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] +110.05sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] +110.06sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] +110.08sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +110.09sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +110.09sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system +110.09sERRORmove_group-24process has died [pid 7752, 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__qgc7fh_ --params-file /tmp/launch_params_vm50jssw --params-file /tmp/launch_params_122l9m_1 --params-file /tmp/launch_params_io0vw_s0 --params-file /tmp/launch_params_e3ggf52j --params-file /tmp/launch_params_54kemuvm']. +110.10sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +110.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593847 ms (missed cycles : 3).[0m +110.11sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +110.12sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +110.13sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +110.14sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] +110.15sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +110.17sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +110.18sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +110.18sINFOvideo_server2026/09/17 21:36:47 INF shutting down gracefully +110.18sINFOvideo_server2026/09/17 21:36:47 INF [WebRTC] closing +110.18sINFOvideo_server2026/09/17 21:36:47 INF [RTSP] closing +110.18sINFOvideo_server2026/09/17 21:36:47 INF waiting for running hooks +110.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.18sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOcomponent_container_mtStopping planning scene monitor[0m +110.18sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +110.18sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +110.18sERRORmove_groupwhat(): context cannot be slept with because it's invalid +110.18sERRORmove_groupStack trace (most recent call last) in thread 8424: +110.18sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +110.18sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdbd696a63, in __clone +110.18sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdbd609aa3, in +110.18sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdbd89bdb3, in +110.18sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fbdbdfffb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +110.18sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbdbdc2d620, in rclcpp::Rate::sleep() +110.18sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbdbdb6fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +110.18sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbdbdb31087, in +110.18sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdbd86a390, in __cxa_throw +110.18sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdbd854a54, in std::terminate() +110.18sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +110.18sINFOros2_control_nodeShutdown request received....[0m +110.18sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +110.18sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +110.18sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +110.18sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +110.18sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +110.18sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdbd86a0d9, in +110.18sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbdbd854ff4, in +110.18sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdbd5958fe, in abort +110.18sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdbd5b227d, in raise +110.18sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbdbd60bb2c, in pthread_kill +110.18sERRORmove_groupAborted (Signal sent by tkill() 7752 0) +110.19sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +110.19sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +110.19sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +110.19sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +110.19sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +110.19sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +110.19sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +110.19sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +110.19sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +110.19sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +110.19sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +110.19sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +110.19sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +110.19sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +110.19sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +110.19sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +110.19sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +110.19sINFOros2_control_nodeShutting down the controller manager.[0m +110.19sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +110.19sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.19sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +110.19sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +110.19sERRORodom_qos_relay.pyTraceback (most recent call last): +110.19sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +110.19sINFOodom_qos_relay.pymain() +110.19sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +110.19sINFOodom_qos_relay.pyrclpy.spin(node) +110.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +110.19sINFOodom_qos_relay.pyexecutor.spin_once() +110.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +110.19sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +110.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +110.19sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +110.19sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +110.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +110.19sINFOodom_qos_relay.pyreturn next(self._cb_iter) +110.19sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +110.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +110.19sINFOodom_qos_relay.pyraise ExternalShutdownException() +110.19sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +110.19sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m +110.28sINFOros2_control_nodeAsync messages lost 0[0m ×2 +110.28sINFOros2_control_nodepublish_async_failures_ 2[0m +110.28sINFOros2_control_nodepublish_async_failures_ 1[0m +110.98sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7831] +110.98sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system +111.05sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7812] +111.07sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7811] +111.08sINFOui_teleop_bridge-33process has finished cleanly [pid 7818] +111.09sINFOexecute_objective_bridge-32process has finished cleanly [pid 7817] +111.12sINFOparameter_manager_node-25process has finished cleanly [pid 7804] +111.13sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7736] +111.13sINFOwaypoint_manager_node-26process has finished cleanly [pid 7809] +111.15sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7641] +111.15sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 7737] +111.15sINFOstatic_transform_publisher-8process has finished cleanly [pid 7640] +111.16sINFOstatic_transform_publisher-7process has finished cleanly [pid 7639] +111.17sERRORlidar_flattener.pyTraceback (most recent call last): +111.17sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +111.17sINFOlidar_flattener.pymain() +111.17sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +111.17sINFOlidar_flattener.pyrclpy.spin(node) +111.17sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +111.17sINFOlidar_flattener.pyexecutor.spin_once() +111.17sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +111.17sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +111.17sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +111.17sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +111.17sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +111.17sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +111.17sINFOlidar_flattener.pyreturn next(self._cb_iter) +111.17sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +111.17sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +111.17sINFOlidar_flattener.pyraise ExternalShutdownException() +111.17sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +111.17sINFOcomponent_container_mt-31process has finished cleanly [pid 7816] +111.18sERRORcomponent_container_isolated-1process has died [pid 7633, 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_0xt30yvn --params-file /tmp/launch_params_gfxhiu94 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +111.19sINFOobjective_server_node[2026-09-17 21:36:48.766] [moveit_pro_license] [info] +111.19sINFOobjective_server_node* Application has successfully terminated +111.20sINFOstatic_transform_publisher-3process has finished cleanly [pid 7635] +111.22sERRORlidar_flattener.py-6process has died [pid 7638, 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_p9gb1mkd']. +111.24sERRORodom_qos_relay.py-5process has died [pid 7637, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +111.25sINFOobjective_server_node_main-29process has finished cleanly [pid 7814] +111.25sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system +111.53sERRORcomponent_container_isolated-2process has died [pid 7634, 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_0xt30yvn --params-file /tmp/launch_params_e36orn_t -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +112.17sINFOcomponent_container_mt-30process has finished cleanly [pid 7815] +112.18sINFOodom_world_drift-4process has finished cleanly [pid 7636] +112.77sINFOweb_bridge-34process has finished cleanly [pid 7824] +112.77sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system +112.80sINFOros2_control_node-12process has finished cleanly [pid 7738] +118.74sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-21-36-54-559804-0b8edf67e67b-10698 ×2 +123.67sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' +123.68sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' +123.69sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' +123.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +123.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +123.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +123.86sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +123.92sINFOcontroller_serverCreating controller server +123.93sINFOstate_estimatorReceived a set_pose request (stamp: 1789681021502340149, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +123.94sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +123.97sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +123.97sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +123.99sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +123.99sINFOlocal_costmap.local_costmapCreating Costmap +124.02sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +124.02sINFOros2_control_node-12process started with pid [10851] ×2 +124.02sINFOmove_group-24process started with pid [10888] ×2 +124.02sINFOparameter_manager_node-25process started with pid [10926] ×2 +124.02sINFOwaypoint_manager_node-26process started with pid [10927] ×2 +124.02sINFOmove_joint_resampler_node-27process started with pid [10928] ×2 +124.02sINFOmove_end_effector_resampler_node-28process started with pid [10931] ×2 +124.02sINFOobjective_server_node_main-29process started with pid [10936] ×2 +124.02sINFOcomponent_container_mt-30process started with pid [10937] ×2 +124.02sINFOcomponent_container_mt-31process started with pid [10938] ×2 +124.03sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +124.05sINFOexecute_objective_bridge-32process started with pid [10953] ×2 +124.05sINFOui_teleop_bridge-33process started with pid [10955] ×2 +124.05sINFOweb_bridge-34process started with pid [10956] ×2 +124.05sINFOtf2_web_republisher_node-35process started with pid [10958] ×2 +124.05sINFOvideo_server-36process started with pid [10964] ×2 +124.05sINFOweb_bridge_auth_proxy-37process started with pid [10965] ×2 +124.05sINFOweb_video_auth_proxy-38process started with pid [10966] ×2 +124.05sINFOcomponent_container_isolated-1process started with pid [10748] ×2 +124.05sINFOcomponent_container_isolated-2process started with pid [10749] ×2 +124.05sINFOstatic_transform_publisher-3process started with pid [10750] ×2 +124.05sINFOodom_world_drift-4process started with pid [10751] ×2 +124.05sINFOodom_qos_relay.py-5process started with pid [10752] ×2 +124.05sINFOlidar_flattener.py-6process started with pid [10753] ×2 +124.05sINFOstatic_transform_publisher-7process started with pid [10754] ×2 +124.05sINFOstatic_transform_publisher-8process started with pid [10755] ×2 +124.05sINFOscan_to_scan_filter_chain-9process started with pid [10756] ×2 +124.05sINFOscan_to_scan_filter_chain-10process started with pid [10849] ×2 +124.05sINFOfixed_lag_smoother_node-11process started with pid [10850] ×2 +124.05sINFOros2-13process started with pid [10852] ×2 +124.05sINFOros2-14process started with pid [10853] ×2 +124.05sINFOros2-15process started with pid [10854] ×2 +124.05sINFOros2-16process started with pid [10855] ×2 +124.05sINFOros2-17process started with pid [10856] ×2 +124.05sINFOros2-18process started with pid [10857] ×2 +124.05sINFOros2-19process started with pid [10858] ×2 +124.05sINFOros2-20process started with pid [10863] ×2 +124.05sINFOros2-21process started with pid [10866] ×2 +124.05sINFOros2-22process started with pid [10873] ×2 +124.05sINFOros2-23process started with pid [10877] ×2 +124.07sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +124.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +124.10sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +124.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.10sINFOcontroller_managerupdate rate is 600 Hz +124.10sINFOcontroller_managerOverruns handling is : enabled +124.10sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +124.11sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +124.17sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.19sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +124.20sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +124.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873661 ms (missed cycles : 3). +124.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +124.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +124.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.23sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873661 ms (missed cycles : 3).[0m ×2 +124.24sINFOsmoother_serverCreating smoother server +124.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +124.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.28sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.28sINFOmap_serverCreating +124.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +124.30sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.31sINFOcontroller_managerReceived robot description from topic. +124.31sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +124.32sINFOrobot_state_publisherRobot initialized +124.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.33sINFOplanner_serverCreating +124.33sINFOvideo_server2026/09/17 21:37:01 INF MediaMTX v1.20.1, linux, amd64 ×2 +124.34sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +124.35sINFOvideo_server2026/09/17 21:37:01 INF configuration loaded from /tmp/moveit-webrtc-k8k5nvu8/mediamtx.yml ×2 +124.35sINFOvideo_server2026/09/17 21:37:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +124.35sINFOvideo_server2026/09/17 21:37:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +124.36sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +124.38sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.39sINFOglobal_costmap.global_costmapCreating Costmap +124.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +124.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.42sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.42sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.42sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.45sINFOlifecycle_manager_localizationCreating +124.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.46sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.47sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.50sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +124.50sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +124.50sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +124.50sINFOmap_serverConfiguring +124.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +124.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.56sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.61sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +124.61sINFOamclConfiguring +124.61sINFObt_navigatorCreating +124.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +124.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.64sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +124.64sINFOmap_serverActivating +124.64sINFOmap_serverCreating bond (map_server) to lifecycle manager. +124.67sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +124.68sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +124.69sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.70sINFOwaypoint_followerCreating +124.70sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +124.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +124.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.76sINFOlifecycle_manager_localizationServer map_server connected with bond. +124.76sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +124.76sINFOamclActivating +124.76sINFOamclSubscribed to initial_pose_topic: /initialpose +124.76sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.76sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +124.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.79sINFOamclSubscribed to map_topic: /map +124.79sINFOamclSubscribed to scan_topic: /scan_merged +124.80sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +124.81sINFOamclCreated reinitialize_global_localization service +124.81sINFOamclCreated request_nomotion_update service +124.81sINFOamclA new map was received +124.81sINFOamclInitializing particle filter instance +124.82sINFOlifecycle_manager_navigationCreating +124.87sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.89sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +124.89sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +124.89sINFOcontroller_serverConfiguring controller interface +124.89sINFOcontroller_servergetting progress checker plugins.. +124.89sINFOcontroller_servergetting goal checker plugins.. +124.89sINFOcontroller_serverController frequency set to 20.0000Hz +124.89sINFOlocal_costmap.local_costmapConfiguring +124.91sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +124.93sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +124.95sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.367277 seconds +124.95sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +124.95sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +124.96sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +124.96sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +124.97sINFOmove_groupLoaded robot model in 0.367277 seconds[0m ×2 +124.97sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +125.01sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +125.02sINFOcontroller_serverController Server has progress_checker progress checkers available. +125.02sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +125.03sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +125.03sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +125.05sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +125.07sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +125.07sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +125.09sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +125.09sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +125.09sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +125.09sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +125.11sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +125.11sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +125.11sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +125.11sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +125.11sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +125.11sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +125.11sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +125.11sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +125.11sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +125.11sINFOcontroller_serverOptimizer reset ×2 +125.13sINFOcontroller_serverController Server has FollowPath controllers available. +125.15sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +125.15sINFOsmoother_serverConfiguring smoother server +125.18sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +125.19sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +125.21sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +125.21sINFOplanner_serverConfiguring +125.21sINFOglobal_costmap.global_costmapConfiguring +125.22sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +125.24sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +125.25sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +125.26sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +125.27sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +125.29sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +125.31sINFOamclParticle filter initialization completed +125.31sINFOamclInitializing particles from estimated pose and covariance +125.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +125.36sINFOlifecycle_manager_localizationServer amcl connected with bond. +125.36sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +125.36sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +125.38sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +125.38sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +125.38sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +125.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653247 ms (missed cycles : 3). +125.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653247 ms (missed cycles : 3).[0m ×2 +125.41sINFOamclThe bond connection to the lifecycle manager is now fully formed +125.43sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +125.43sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +125.44sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +125.45sINFOplanner_serverPlanner Server has GridBased planners available. +125.48sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +125.48sINFObehavior_serverConfiguring +125.49sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +125.50sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +125.50sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +125.50sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +125.51sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +125.52sINFObehavior_serverConfiguring spin +125.53sINFObehavior_serverConfiguring backup +125.54sINFObehavior_serverConfiguring drive_on_heading +125.55sINFObehavior_serverConfiguring assisted_teleop +125.56sINFObehavior_serverConfiguring wait +125.57sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +125.57sINFObt_navigatorConfiguring +125.58sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +125.59sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application +125.64sINFOwaypoint_manager_nodeLoaded robot model in 0.332303 seconds[0m ×2 +125.70sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +125.70sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +125.72sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +125.72sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.78sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +125.78sINFOwaypoint_followerConfiguring +125.81sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +125.82sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +125.82sINFOvelocity_smootherConfiguring velocity smoother +125.83sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +125.83sINFOcontroller_serverActivating +125.83sINFOlocal_costmap.local_costmapActivating +125.83sINFOlocal_costmap.local_costmapChecking transform +125.83sINFOlocal_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 +126.06sINFOmove_group[2026-09-17 21:37:03.640] [moveit_pro_license] [info] ×2 +126.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.55sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +126.55sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +126.55sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +126.55sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +126.55sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +126.55sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +126.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +126.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +126.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +126.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +126.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +126.56sINFOwaypoint_manager_node[2026-09-17 21:37:04.139] [moveit_pro_license] [info] ×2 +126.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281516 ms (missed cycles : 2). +126.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281516 ms (missed cycles : 2).[0m ×2 +126.80sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +126.80sINFOcontroller_managerActivating component 'ur_mujoco_control'. +126.80sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +126.80sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +127.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +127.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +127.22sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +127.22sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +127.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.29sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.29sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +127.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +127.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +127.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +127.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +127.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +127.32sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +127.33sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +127.33sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +127.33sINFOlocal_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. ×5 +127.33sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +127.33sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.33sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +127.33sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +127.33sINFOobjective_server_node[2026-09-17 21:37:04.906] [moveit_pro_license] [info] ×2 +127.34sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +127.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +127.41sINFOobjective_server_nodeLoaded robot model in 0.0252868 seconds[0m ×2 +127.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +127.52sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +127.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.55sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.57sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +127.58sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +127.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221042 ms (missed cycles : 2). +127.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221042 ms (missed cycles : 2).[0m ×2 +127.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +127.76sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +127.90sINFOcomponent_container_mtLoaded robot model in 0.36348 seconds[0m ×2 +127.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +127.98sWARNobjective_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. +127.98sWARNobjective_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. +127.98sWARNobjective_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. +127.98sWARNobjective_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. +127.98sWARNobjective_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. +127.99sWARNobjective_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. +127.99sWARNobjective_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. +127.99sWARNobjective_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. +127.99sWARNobjective_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. +127.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.11sINFOros2_control_node[2026-09-17 21:37:05.690] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +128.12sINFOros2_control_node[2026-09-17 21:37:05.693] [info] Controller state will be published at 10 Hz. ×2 +128.12sINFOros2_control_node[2026-09-17 21:37:05.694] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.35sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +128.37sINFOmove_groupMoveGroup debug mode is ON +128.42sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.42sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.42sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.42sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.43sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.43sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +128.43sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.44sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.51sINFOros2-21process has finished cleanly [pid 10866] ×2 +128.53sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +128.53sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +128.56sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ******************************************************** +128.60sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +128.60sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +128.67sINFOcomponent_container_mt[2026-09-17 21:37:06.242] [moveit_pro_license] [info] ×2 +128.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577872 ms (missed cycles : 5). +128.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577872 ms (missed cycles : 5).[0m ×2 +128.91sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +128.95sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.95sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +129.06sINFOros2_control_node[2026-09-17 21:37:06.632] [info] Controller state will be published at 20 Hz. ×2 +129.06sINFOros2_control_node[2026-09-17 21:37:06.633] [info] JointVelocityController 'on_configure' succeeded. ×2 +129.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +129.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +129.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +129.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +129.41sINFOros2-23process has finished cleanly [pid 10877] ×2 +129.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +129.43sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +129.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +129.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +129.46sINFOcontroller_managerSuccessfully switched controllers! ×20 +129.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +129.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 +129.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240429 ms (missed cycles : 2). +129.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240429 ms (missed cycles : 2).[0m ×2 +129.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +129.77sINFOcontroller_managerLoading controller 'platform_velocity_controller' +129.77sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +129.77sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +129.80sINFOros2-15process has finished cleanly [pid 10854] ×2 +129.82sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +129.83sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +129.83sINFOplatform_velocity_controllerconfigure successful +129.83sINFOlocal_costmap.local_costmapstart +129.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +129.84sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +129.94sWARNcontroller_serverParameter controller_server.verbose not found +129.94sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +129.97sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789681025.849 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +130.05sINFOlifecycle_manager_navigationServer controller_server connected with bond. +130.05sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +130.05sINFOsmoother_serverActivating +130.05sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +130.11sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 7.931ms +130.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +130.13sINFOcontroller_managerLoading controller 'velocity_force_controller' +130.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +130.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +130.15sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +130.15sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +130.15sINFOplanner_serverActivating +130.15sINFOglobal_costmap.global_costmapActivating +130.15sINFOglobal_costmap.global_costmapChecking transform +130.15sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789681027.695813, but only time 1789681028.153944 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +130.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +130.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +130.20sINFOros2-16process has finished cleanly [pid 10855] ×2 +130.65sINFOglobal_costmap.global_costmapstart +130.69sINFOros2_control_node[2026-09-17 21:37:08.269] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +130.70sINFOros2_control_node[2026-09-17 21:37:08.272] [info] Controller state will be published at 10 Hz. ×2 +130.70sINFOros2_control_node[2026-09-17 21:37:08.273] [info] VelocityForceController 'on_configure' succeeded. ×2 +130.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828845 ms (missed cycles : 2). +130.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828845 ms (missed cycles : 2).[0m ×2 +131.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +131.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +131.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +131.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +131.06sINFOros2-20process has finished cleanly [pid 10863] ×2 +131.11sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +131.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +131.11sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +131.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +131.12sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +131.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +131.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +131.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +131.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +131.43sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +131.43sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +131.46sINFOros2-19process has finished cleanly [pid 10858] ×2 +131.48sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +131.49sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +131.49sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +131.50sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +131.71sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +131.71sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +131.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +131.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' +131.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +131.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +131.81sINFOlifecycle_manager_navigationServer planner_server connected with bond. +131.81sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +131.81sINFObehavior_serverActivating +131.81sINFObehavior_serverActivating spin +131.81sINFObehavior_serverActivating backup +131.81sINFObehavior_serverActivating drive_on_heading +131.81sINFObehavior_serverActivating assisted_teleop +131.81sINFObehavior_serverActivating wait +131.81sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +131.86sINFOros2-14process has finished cleanly [pid 10853] ×2 +131.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +131.87sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +131.92sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +131.92sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +131.92sINFObt_navigatorActivating +131.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962561 ms (missed cycles : 2). +131.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962561 ms (missed cycles : 2).[0m ×2 +132.01sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +132.11sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +132.11sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +132.11sINFOwaypoint_followerActivating +132.11sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +132.22sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +132.22sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +132.22sINFOvelocity_smootherActivating +132.22sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +132.33sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +132.33sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +132.33sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +132.39sINFOros2_control_node[2026-09-17 21:37:09.969] [info] Controller state will be published at 20 Hz. ×2 +132.39sINFOros2_control_node[2026-09-17 21:37:09.970] [info] JointVelocityController 'on_configure' succeeded. ×2 +132.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +132.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +132.73sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +132.73sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +132.76sINFOros2-22process has finished cleanly [pid 10873] ×2 +132.80sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +132.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +132.80sINFOplatform_velocity_controller_nav2configure successful +133.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081208 ms (missed cycles : 2). +133.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081208 ms (missed cycles : 2).[0m ×2 +133.14sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +133.14sINFOcontroller_managerLoading controller 'vacuum_gripper' +133.14sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +133.14sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +133.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +133.19sINFOros2-18process has finished cleanly [pid 10857] ×2 +133.20sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +133.20sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +133.20sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +133.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +133.21sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +133.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +133.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +133.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi +133.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c8encqr7 --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_n84zf7jk --params-file /tmp/launch_params_lm6su5fi [0m ×2 +133.55sINFOros2-17process has finished cleanly [pid 10856] ×2 +133.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +133.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +133.62sINFOforce_torque_sensor_broadcasterconfigure successful +133.62sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +133.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +133.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 +133.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +133.88sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 +133.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +133.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 +133.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 +133.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 +133.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 +133.97sINFOros2-13process has finished cleanly [pid 10852] ×2 +134.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484750 ms (missed cycles : 6). +134.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484750 ms (missed cycles : 6).[0m ×2 +135.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677536 ms (missed cycles : 5). +135.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677536 ms (missed cycles : 5).[0m ×2 +136.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). +136.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 +137.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). +137.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 +138.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). +138.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 +139.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +139.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +139.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +139.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +139.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 +139.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +139.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 +139.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). +139.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 +140.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +140.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +140.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 +140.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). +140.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 +140.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +140.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +141.00sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] +141.00sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +141.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +141.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 +141.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +141.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +141.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +141.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +141.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +141.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). +141.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 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/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.62sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.62sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.16sINFOobjective_server_nodecaller: ×10 + 2.16sINFOobjective_server_nodetype: 0 ×10 + 2.16sINFOobjective_server_nodename: "" ×10 + 2.16sINFOobjective_server_nodeinstance_id: "" ×10 + 2.16sINFOobjective_server_node ×10 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.20sINFOmove_groupClearing octomap...[0m ×4 + 2.20sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×4 + 2.20sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677536 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677536 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 1.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 3.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.53sINFOobjective_server_nodecaller: ×10 + 3.53sINFOobjective_server_nodetype: 0 ×10 + 3.53sINFOobjective_server_nodename: "" ×10 + 3.53sINFOobjective_server_nodeinstance_id: "" ×10 + 3.53sINFOobjective_server_node ×10 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.58sINFOmove_groupClearing octomap...[0m ×4 + 3.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×4 + 3.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 7.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 7.55sINFOjoint_trajectory_controllerReceived new action goal + 7.55sINFOjoint_trajectory_controllerAccepted new action goal + 7.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.55sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 312 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677536 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677536 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 1.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 3.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.53sINFOobjective_server_nodecaller: ×10 + 3.53sINFOobjective_server_nodetype: 0 ×10 + 3.53sINFOobjective_server_nodename: "" ×10 + 3.53sINFOobjective_server_nodeinstance_id: "" ×10 + 3.53sINFOobjective_server_node ×10 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.58sINFOmove_groupClearing octomap...[0m ×4 + 3.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×4 + 3.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180845 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.50sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 1.62sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.62sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.16sINFOobjective_server_nodecaller: ×10 + 2.16sINFOobjective_server_nodetype: 0 ×10 + 2.16sINFOobjective_server_nodename: "" ×10 + 2.16sINFOobjective_server_nodeinstance_id: "" ×10 + 2.16sINFOobjective_server_node ×10 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.20sINFOmove_groupClearing octomap...[0m ×4 + 2.20sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×4 + 2.20sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

8 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661547 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247604 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.43sINFOobjective_server_nodecaller: ×10 + 1.43sINFOobjective_server_nodetype: 0 ×10 + 1.43sINFOobjective_server_nodename: "" ×10 + 1.43sINFOobjective_server_nodeinstance_id: "" ×10 + 1.43sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789681036.62107706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.47sINFOmove_groupClearing octomap...[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789681036.63127923 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789681037.20721269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789681037.21733117 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363178 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789681037.79895091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789681037.94968629 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295118 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789681038.55601835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789681038.62614894 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789681039.20878172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873012 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905063 ms (missed cycles : 2).[0m ×2 + 5.44sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889137 ms (missed cycles : 3).[0m ×2